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While executing actions, service robots may experience external faults because of insufficient knowledge about the actions' preconditions. The possibility of encountering such faults can be minimised if symbolic and geometric precondition models are combined into a representation that specifies how and where actions should be executed. This work investigates the problem of learning such action execution...
In the field of domestic service robots, recovery from faults is crucial to promote user acceptance. In this context we will focus, in particular, on some specific faults which arise from interaction of the robot with its real world environment. In these situations even a well modelled robot may fail to perform its tasks successfully due to external faults which occur while interacting. We reason...
When a robot interacts with its environment to perform tasks, it often faces unexpected situations which render its actions unsuccessful despite perfect functioning of its components. These situations occur as deviations of properties of the objects (manipulated by the robot) from their acceptable values. Hence, they are experienced by the robot as external faults. In this work, we propose a simulation-based...
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