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Particle Filters for Real-Time Fault Detection in Planetary RoversPlanetary rovers provide a considerable challenge for robotic systems in that they must operate for long periods autonomously, or with relatively little intervention. To achieve this, they need to have on-board fault detection and diagnosis capabilities in order to determine the actual state of the vehicle, and decide what actions are safe to perform. Traditional model-based diagnosis techniques are not suitable for rovers due to the tight coupling between the vehicle's performance and its environment. Hybrid diagnosis using particle filters is presented as an alternative, and its strengths and weakeners are examined. We also present some extensions to particle filters that are designed to make them more suitable for use in diagnosis problems.
Document ID
Document Type
Preprint (Draft being sent to journal)
Dearden, Richard (Research Inst. for Advanced Computer Science Moffett Field, CA United States)
Clancy, Dan (Research Inst. for Advanced Computer Science Moffett Field, CA United States)
Koga, Dennis
Date Acquired
September 7, 2013
Publication Date
January 1, 2001
Subject Category
Avionics and Aircraft Instrumentation
Distribution Limits
Work of the US Gov. Public Use Permitted.

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NameType 20020002861.pdf STI