Exception Handling System for Autonomous Robots Based on PES

Abstract

Meijer, G.R., L.O. Hertzberger, T.L. Mal, E. Gaussens, and F. Arlabosse, Exception handling system for autonomous robots based on PES, Robotics and Autonomous Systems 7 (1991) 197-209. To reach autonomy of a robot system, the robot needs to be able to adapt itself to the changing environment. One of the key capabilities required for such a system is exception handling. We realized exception handling mechanisms for autonomous robots with a Procedural Expert System (PES). The work described in this paper is based on the Exception Handling Model (EHM), a model describing the handling of exceptions within the framework of an a priori plan. Exception handling provides the robot with capabilities to monitor its operations. Upon the detection of an exception, a diagnosis can be performed which leads to a classification of the exception at hand. Task rescheduling and recovery planning is performed based on heuristic knowledge of the application. Modelling of a robot assembly application and the realization of EHM with PES are described in the paper.