A Generic Robot Database and its Application in Fault Analysis and Performance Evaluation

Tim D. Niemueller, Gerhard Lakemeyer, and Siddhartha Srinivasa
IEEE International Conference on Intelligent Robots and Systems , October, 2012.


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Abstract
During operation of robots large amounts of data are produced and processed for instance in perception, actuation, or decision making. Nowadays this data is typically volatile and disposed right after use. But this data can be valuable and useful later. Therefore we propose a database system that taps into common robot middleware to record any and all data produced at run-time. We present two examples using this data in fault analysis and performance evaluation and describe real-world experiments run on the domestic service robot HERB.

Keywords
personal robots, fault analysis, robot database, error detection, error recovery

Notes
Associated Center(s) / Consortia: Quality of Life Technology Center, National Robotics Engineering Center, and Center for the Foundations of Robotics
Associated Lab(s) / Group(s): Personal Robotics

Text Reference
Tim D. Niemueller, Gerhard Lakemeyer, and Siddhartha Srinivasa, "A Generic Robot Database and its Application in Fault Analysis and Performance Evaluation," IEEE International Conference on Intelligent Robots and Systems , October, 2012.

BibTeX Reference
@inproceedings{Niemueller_2012_7262,
   author = "Tim D Niemueller and Gerhard Lakemeyer and Siddhartha Srinivasa",
   editor = "IEEE",
   title = "A Generic Robot Database and its Application in Fault Analysis and Performance Evaluation",
   booktitle = "IEEE International Conference on Intelligent Robots and Systems ",
   month = "October",
   year = "2012",
}