Robot task error recovery using Petri nets learned from demonstration

Guoting Chang, Dana Kulić

Research output: Contribution to conferencePaperpeer-review

6 Citations (Scopus)

Abstract

The ability to recover from errors is necessary for robots to cope with unexpected situations in a dynamic environment. Efficient error recovery should allow the robot to utilise existing knowledge of the task and learn new error recovery strategies from observation. This paper proposes an automatic error recovery procedure that allows the robot to handle both known and unknown error states using a Petri net representation of the task. For known error states, the robot can directly adjust the sequencing of actions using the Petri net representation to complete the task, while for unknown error states, the robot can learn how to perform error recovery from a human demonstrator by extending the existing Petri net. The proposed method is verified on a real robot performing a block stacking task.

Original languageEnglish
DOIs
Publication statusPublished - 1 Jan 2013
Externally publishedYes
EventInternational Conference on Advanced Robotics (ICAR) 2013 - Montevideo, Uruguay
Duration: 25 Nov 201329 Nov 2013
Conference number: 16th
https://ieeexplore.ieee.org/xpl/conhome/6755997/proceeding (Proceedings)

Conference

ConferenceInternational Conference on Advanced Robotics (ICAR) 2013
Abbreviated titleICAR 2013
Country/TerritoryUruguay
CityMontevideo
Period25/11/1329/11/13
Internet address

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