ADVOCATE} II: ADVanced On-Board Diagnosis and Control of Autonomous Systems {II

Sotelo, Miguel Ángel; Bergasa, Luis M.; Flores, Ramón F.; Ocaña, Manuel; Doussin, M. H.; Magdalena, L.; Kalwa, Joerg; Madsen, A. L.; Perrier, M.; Roland, D.; Corigliano, Pietro
Year: 2003
Type of Publication: Article
Journal: Lecture Notes in Computer Science
Volume: 2809
Number: 2003
Pages: 302-313
Month: February
ISSN: 0302-9743
DOI: 10.1007/978-3-540-45210-2_28
A way to improve the reliability and to reduce costs in autonomous robots is to add intelligence to on-board diagnosis and control systems to avoid expensive hardware redundancy and inopportune mission abortion. According to this, the main goal of the ADVOCATE II project is to adapt legacy piloting software around a generic SOAP (Simple Object Access Protocol) architecture on which intelligent modules could be plugged. Artificial Intelligent (AI) modules using Belief Bayesian Networks (BBN), Neuro-Symbolic Systems (NSS), and Fuzzy Logic (FL) are coordinated to help the operator or piloting system manage fault detection, risk assessment, and recovery plans. In this paper, the specification of the ADVOCATE II system is presented.
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