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Robotics 2018, 7(3), 32; https://doi.org/10.3390/robotics7030032

A Safety Monitoring Model for a Faulty Mobile Robot

1
Department of Electrical and Computer Engineering, Faculty of Engineering, University of Porto, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal
2
INESC TEC and Department of Electrical and Computer Engineering, Faculty of Engineering, University of Porto, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal
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Authors to whom correspondence should be addressed.
Received: 30 April 2018 / Revised: 4 June 2018 / Accepted: 15 June 2018 / Published: 21 June 2018
(This article belongs to the Special Issue Robust and Resilient Robots)
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Abstract

The continued development of mobile robots (MR) must be accompanied by an increase in robotics’ safety measures. Not only must MR be capable of detecting and diagnosing faults, they should also be capable of understanding when the dangers of a mission, to themselves and the surrounding environment, warrant the abandonment of their endeavors. Analysis of fault detection and diagnosis techniques helps shed light on the challenges of the robotic field, while also showing a lack of research in autonomous decision-making tools. This paper proposes a new skill-based architecture for mobile robots, together with a novel risk assessment and decision-making model to overcome the difficulties currently felt in autonomous robot design. View Full-Text
Keywords: mobile robots; robot architecture; robot skills; risk assessment; decision-making; fault detection; fault diagnosis mobile robots; robot architecture; robot skills; risk assessment; decision-making; fault detection; fault diagnosis
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).
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Leite, A.; Pinto, A.; Matos, A. A Safety Monitoring Model for a Faulty Mobile Robot. Robotics 2018, 7, 32.

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