Steps Towards Model-Free Execution Monitoring on Mobile Robots

In this paper we present some preliminary results on the idea of using a model-free execution monitor on a mobile robot. By model-free monitoring we mean that the monitoring is based only on the actual execution, without involving any predictive models of the controlled system. In this, our approach is different from most previous work on execution monitoring. We analyze the activation levels of the different behaviors in a mobile robot controller using a pattern recognition technique to detect problems in the execution. Simulated experiments show that this approach provides a viable avenue to execution monitoring.