@inproceedings {KBSG_299,
        title = {Improving Robustness of Task Execution Against External Faults Using Simulation Based Approach},
        journal = {24nd International Workshop on Principles of Diagnosis DX'13},
        year = {2013},
        month = {10/2013},
        abstract = {Robots interacting in complex and cluttered
                  environments may face unexpected situations referred
                  to as external faults which prohibit the successful
                  completion of their tasks. In order to function in a
                  more robust manner, robots need to recognise these
                  faults and learn how to deal with them in the
                  future. We present a simulation-based technique to
                  avoid external faults occurring during execusion
                  releasing actions of a robot. Our technique utilizes
                  simulation to generate a set of labeled examples
                  which are used by a histogram algorithm to compute a
                  safe region. A safe region consists of a set of
                  releasing states of an object that correspond to
                  successful performances of the action.  This
                  technique also suggests a general solution to avoid
                  the occurrence of external faults for not only the
                  current, observable object but also for any other
                  object of the same shape but different size.},
        keywords = {faults in robotics, simulation},
        url_Paper = {https://kbsg.rwth-aachen.de/sites/kbsg/files/kuestenmacher_DX13_0.pdf},
        author = {Anastassia K{\"u}stenmacher and Paul G. Pl{\"o}ger and Lakemeyer, Gerhard},
}

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