Conference proceedings article
Adaptive Model-based Monitoring for Robots



Publication Details
Authors:
Kirchner, D.; Geihs, K.
Editor:
Menegatti E.; Michael N.; Berns K.; Yamaguchi H
Publisher:
Springer
Place:
Cham
Publication year:
2014
Pages range:
43-56
Book title:
13th International Conference on Intelligent Autonomous Systems (IAS)
Title of series:
Intelligent Systems and Computing
ISBN:
978-3-319-08337-7

Abstract
Continuous and comprehensive monitoring is a key requirement for reliable failure detection.However, the overhead of the observation process conflicts with the limited resources of a robot platform.Therefore, robot monitoring faces high efficiency requirements.This defines a trade-off between comprehensive observation and monitoring resource overhead.In this paper, we propose an adaptive, model-based monitoring approach that addresses this trade-off.We specify an individual monitoring configuration in an abstract system model to focus the observation on expressive state aspects.Moreover, we introduce adaptivity to further improve the efficiency of the monitoring process.To evaluate this efficiency, we compare our approach with a reference monitoring system.Due to our results, we are confident that the proposed approach significantly reduces the resource overhead.

Last updated on 2019-09-01 at 14:57