DMCA
Non-Parametric Fault Identification for Space Rovers (2001)
| Venue: | IN INTERNATIONAL SYMPOSIUM ON ARTIFICIAL INTELLIGENCE AND ROBOTICS IN SPACE (ISAIRAS |
| Citations: | 26 - 3 self |
BibTeX
@INPROCEEDINGS{Verma01non-parametricfault,
author = {Vandi Verma and John Langford and Reid Simmons},
title = {Non-Parametric Fault Identification for Space Rovers},
booktitle = {IN INTERNATIONAL SYMPOSIUM ON ARTIFICIAL INTELLIGENCE AND ROBOTICS IN SPACE (ISAIRAS},
year = {2001},
publisher = {}
}
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Abstract
Autonomous fault detection is prerequisite for autonomous system repair which is of great value for spacecraft where human intervention is expensive, slow, unreliable, and occasionally impossible. We present a method which successfully achieves autonomous fault detection in simulation. The approach uses a nonparametric estimate of the system state updated based upon sensor measurements. Our system does state estimation using a decision-theoretic generalization of particle filters which takes into account the difference in utility of fault detection vs. fault nondetection.
Keyphrases
space rover non-parametric fault identification autonomous fault detection sensor measurement fault detection v fault nondetection particle filter nonparametric estimate system state state estimation great value human intervention decision-theoretic generalization autonomous system repair
