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Robotics and Autonomous Systems
Volume 17, Issue 4 Abstract
June 1996 Journal Format-PDF (2500 K)
Pages 259-285


0921-8890(95)00071-2

Detecting and diagnosing mistakes in vision-based navigation

Elizabeth R. Stucka, *

a The Robotics Institute, Carnegie Mellon University, 5000 Forbes Avenue Pittsburgh, PA 15213-3890 USA

Received 30 January 1995; revised 2 October 1995. Available online 9 February 1999.

Abstract

Robust mobile robot navigation is an open problem. Navigational mistakes are inevitable due to the characteristics of sensors, models, actuators, and natural environments. This paper describes how to detect and diagnose mistakes that autonomous mobile robots make while navigating through large-scale space using vision. Mistakes are perceptual, cognitive, or motor events that lead a robot astray from its intended route. Detecting and diagnosing a mistake involves realizing that this has happened and determining what the mistake was and when it happened.

The approach described in this paper handles mistakes explicitly. Mistakes are detected by looking for mismatches between observations and expectations. Detailed symbolic representations of visual information support comparing observations and expectations augmented by a priori knowledge. Mistakes are diagnosed by examining knowledge from a variety of sources, including a history of the mobile robot's observations and actions. A computer program called implements this approach in simulation and provides experimental results that demonstrate the feasibility and potential of the approach.

Author Keywords: Mobile robotics; Autonomous navigation; Mistakes

Index Terms: Mobile robots; Navigation; Error detection; Computer vision; Large scale systems; Computer software; Computer simulation; Knowledge representation; Error analysis; Robustness (control systems); Vision based navigation; Error diagnosis; Navigation mistakes; Priori knowledge; Autonomous navigation

*Corresponding author.


Robotics and Autonomous Systems Abstract
Journal Format-PDF (2500 K)
Volume 17, Issue 4
June 1996
Pages 259-285


3 of 4 Article ListPreviousNext
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