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RI | Publications | Non-Parametric Fault Identification for Space Rovers
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Text only version of this site
Non-Parametric Fault Identification for Space Rovers
V. Verma, J. Langford, and R. Simmons
International Symposium on Artificial Intelligence and Robotics in Space (iSAIRAS), June, 2001.
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| Abstract |
Autonomous fault detection is prerequisite for autonomous system repair which is of great value for spacecraft where human intervention is expensive, slow, unreliable, and occasionally impossible. We present a method which successfully achieves autonomous fault detection in simulation. The approach uses a nonparametric estimate of the system state updated based upon sensor measurements. Our system does state estimation using a decision-theoretic generalization of particle filters which takes into account the difference in utility of fault detection vs. fault nondetection.
| Notes |
Associated center: FRC
Associated project: Sun Synchronous Navigation
Note: Supported in part by NASA Ames Summer Student Research Program 2000
| Text Reference |
V. Verma, J. Langford, and R. Simmons, "Non-Parametric Fault Identification for Space Rovers," International Symposium on Artificial Intelligence and Robotics in Space (iSAIRAS), June, 2001.
| BibTeX Reference |
@inproceedings{Verma_2001_3759,
author = "Vandi Verma and John Langford and Reid Simmons",
title = "Non-Parametric Fault Identification for Space Rovers",
booktitle = "International Symposium on Artificial Intelligence and Robotics in Space (iSAIRAS)",
month = "June",
year = "2001",
note = "Supported in part by NASA Ames Summer Student Research Program 2000"
}