Adaptive Model-Based Monitoring for Robots

  • Dominik Kirchner
  • Kurt Geihs
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 302)


Continuous and comprehensive monitoring is a key requirement for reliable failure detection. However, the overhead of the observation process conflicts with the limited resources of a robot platform. Therefore, robot monitoring faces high efficiency requirements. This defines a trade-off between comprehensive observation and monitoring resource overhead. In this paper, we propose an adaptive, model-based monitoring approach that addresses this trade-off. We specify an individual monitoring configuration in an abstract system model to focus the observation on expressive state aspects. Moreover, we introduce adaptivity to further improve the efficiency of the monitoring process. To evaluate this efficiency, we compare our approach with a reference monitoring system. Due to our results, we are confident that the proposed approach significantly reduces the resource overhead.


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  1. 1.Distributed Systems GroupUniversity of KasselKasselGermany

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