Robust execution monitoring for navigation plans
J.L. Fernández, Reid G. Simmons · 2002
This paper presents a general approach to robust execution monitoring. The goal is to provide coverage for many types of unexpected and unanticipated situations, while at the same time enabling the robot to quickly detect, and react to, specific contingencies. The approach uses a hierarchy of monitors, structured in layers of increasing specificity. We present the general approach, and show its application in the domain of indoor mobile robot navigation.