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A representation for error detection and recovery in robot task plansA general definition is given of the problem of error detection and recovery in robot assembly systems, and a general representation is developed for dealing with the problem. This invariant representation involves a monitoring process which is concurrent, with one monitor per task plan. A plan hierarchy is discussed, showing how diagnosis and recovery can be handled using the representation.
Document ID
19910035014
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Lyons, D. M. (Philips Laboratories Briarcliff Manor, NY, United States)
Vijaykumar, R. (Southern Maine, University Portland, ME, United States)
Venkataraman, S. T. (JPL Pasadena, CA, United States)
Date Acquired
August 15, 2013
Publication Date
January 1, 1990
Subject Category
Cybernetics
Meeting Information
Meeting: Intelligent Control and Adaptive Systems
Location: Philadelphia, PA
Country: United States
Start Date: November 7, 1989
End Date: November 8, 1989
Sponsors: SPIE
Accession Number
91A19637
Distribution Limits
Public
Copyright
Other

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