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Execution Monitoring for Long-Term Autonomous Mobile Robots in Outdoor Scenarios

Tim Bohne; Benjamin Kisliuk
In: Workshop on Robot Execution Failures and Failure Management Strategies at ICRA 2023. IEEE International Conference on Robotics and Automation (ICRA-2023), Embracing the future: Making robots for humans, located at ICRA 2023, May 29 - June 2, London, United Kingdom, 6/2023.


This work attempts to reduce the barriers towards long-term autonomy of mobile outdoor robots by identifying and classifying key difficulties in such a context and developing a fully integrated monitoring and resolution framework capable of overcoming typical limitations for those systems. Experimental evaluation of the proposed framework in a simulation environment indicates a drastically improved resilience with respect to the identified challenges.


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