Identifying Model-Based Reconfiguration Goals through Functional Deficiencies
Emmanuel Bénazéra, Louise Travé-Massuyès · NASA Technical Reports Server (NASA) · 2004
Abstract. Model-based diagnosis is now advanced to the point autonomous systems face some uncertain and faulty situations with success by correctly identifying sets of potential component faults. The next step toward more autonomy is to have the system recovering itself after faults occur, a process known as model-based reconfiguration. After faults occur, given a prediction of what the nominal expected state of the system should be and the belief state that results from the diagnosis operation, this paper shows how to automatically determine the functional deficiencies induced by the faults. These deficiencies are characterized in the case of uncertain state estimates. A methodology is then presented to determine the reconfiguration goals from the deficiencies. Finally, a recovery process interleaves planning and model predictive control to restore the lost functionalities in prioritized order. 1