Autonomous monitoring and reaction to failures in a topological navigation system

In this paper a system for simultaneous navigation and monitoring with autonomous reaction to failures is going to be presented. This system is part of a complete navigation system called AURON (Autonomous Robot Navigation). The AURON System autonomy is based on the interaction of four main components: the autonomous generation of an environment representation, the planning of a sequence of actions and perceptions which guide the robot from an initial event to a final one, the navigation that converts sequences in real movements and supervises all the process, and the relocalization that allows to place the robot again in the representation. This system has been implemented in a mobile robot control architecture called AD. AD is a two level architecture: deliberative and automatic. The paper is focused in one deliberative skill, the