/Non-Parametric Fault Identification for Space Rovers

Non-Parametric Fault Identification for Space Rovers

Vandi Verma, John Langford and Reid Simmons
Conference Paper, International Symposium on Artificial Intelligence and Robotics in Space (iSAIRAS), June, 2001

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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.

Supported in part by NASA Ames Summer Student Research Program 2000

BibTeX Reference
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)},
year = {2001},
month = {June},
editor = {Jean-Claude Piedboeuf},
keywords = {Fault Identification, Particle Filters, Hybrid state estimation},