Adding diagnostics to intelligent service robots

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Title: Adding diagnostics to intelligent service robots
Author: Chandrababu, S. ; Christensen, Henrik I.
Abstract: Robot systems are increasing in complexity. Trying to diagnose a robot that is non-functional or exhibiting suboptimal performance can be a major challenge. A framework for plug-n-play addition of diagnostics to modules in an object oriented software framework is presented. The methods for modeling of system modules, their transition to a Bayesian model and final implementation are described. The methodology is exemplified for a mobile manipulation system and experimental results are presented.
Description: (c) 2009 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Presented at the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems; October 11-15, 2009; St. Louis, USA. Digital Object Identifier: 10.1109/IROS.2009.5354626
Type: Article
ISBN: 978-1-4244-3803-7
Citation: Chandrababu, S., and Christensen, H. I. Adding diagnostics to intelligent service robots. In IEEE/RSJ Intl. Conf. on Intell. Robots and Systems (St. Louis, MO, Oct. 2009), IEEE.
Date: 2009-10
Contributor: Georgia Institute of Technology. College of Computing
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Publisher: Georgia Institute of Technology
Institute of Electrical and Electronics Engineers
Subject: Diagnostics
Intelligent robotics
Bayesian networks
Quantitative modeling

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