Have another look on failures and recovery planning in perceptual anchoring

Abstract

An important requirement for autonomous systems is the ability to detect and recover from exceptional situations such as failures in observations. In this paper we demon-strate how techniques for planning with sensing under uncertainty can play a major role in solving the problem of recovering from such situations. In this £rst step we concentrate on failures in perceptual anchor-ing, that is how to connect a symbol repre-senting an object to the percepts of that ob-ject. We provide a classi£cation of failures and present planning-based methods for re-covering from them. We illustrate our ap-proach by showing tests run on a mobile robot equipped with a color camera.