Error detection and recovery in robotics (Q1210897)

Problems of robot control in the conditions of uncertainty arising from sensing errors, control errors and uncertainty in the geometrical models of the environment and of the robot are investigated. Error detection and recovery (EDR) strategies are elaborated for solution of these problems. It is based on some axioms: 1) an EDR strategy should enable a robot to attain the goal when it is recognizably reachable or to signal a failure otherwise; 2) it should also permit serendipitous achievement of the goal; 3) furthermore, a motion which is sure to terminate recognizable in the goal should never be terminated prematurely as a failure; 4) finally, no motion should be terminated as a failure if there is any chance that it might serendipitously achieve the goal due to fortuitous sensing or control events. The construction of one-step, two-step and multistep strategies, their implementation and complexity are described. Many examples such as planning gear meshing, insert of the peg in the hole and planning sensing and motion for a mobile robot navigating amidst partially unknown obstacles demonstrate the effectiveness of the EDR method.