文章基本信息

标题：A Safety Monitoring Model for a Faulty Mobile Robot
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作者：André Leite ; Andry Pinto ; Aníbal Matos 等
期刊名称：Robotics
电子版ISSN：2218-6581
出版年度：2018
卷号：7
期号：3
页码：32
DOI：10.3390/robotics7030032
语种：English
出版社：MDPI Publishing
摘要：The continued development of mobile robots (MR) must be accompanied by an increase in robotics’ safety measures. Not only must MR be capable of detecting and diagnosing faults, they should also be capable of understanding when the dangers of a mission, to themselves and the surrounding environment, warrant the abandonment of their endeavors. Analysis of fault detection and diagnosis techniques helps shed light on the challenges of the robotic field, while also showing a lack of research in autonomous decision-making tools. This paper proposes a new skill-based architecture for mobile robots, together with a novel risk assessment and decision-making model to overcome the difficulties currently felt in autonomous robot design.
关键词：mobile robots; robot architecture; robot skills; risk assessment; decision-making; fault detection; fault diagnosis mobile robots ; robot architecture ; robot skills ; risk assessment ; decision-making ; fault detection ; fault diagnosis