Modeling and Comparing Robot Behaviors for Anomaly Detection

摘要

Detection of anomalies and faults is a key element for long-term robot autonomy, because, together with subsequent diagnosis and recovery, allows to reach the required levels of robustness and persistency. The aim of my PhD thesis is to develop new techniques to model and quantitatively compare observed robot behaviors with nominal ones. My goal is to propose approaches for detecting anomalous behaviors of robot systems involved in complex long-term autonomy scenarios, both online, while robots are operating, and offline, after robots have completed a run of their tasks.