Particle filters for fault diagnosis.

V. Verma, R. Simmons, G. Gordon, and S. Thrun.

This article presents a number of complementary algorithms for detecting faults on-board operating robots, where we define a fault as a deviation from expected behavior.

The full paper is available in PDF and gzipped Postscript

@ARTICLE{Verma04a,
  AUTHOR        = {Verma, V. and Simmons, R. and Gordon, G. and Thrun, S.},
  YEAR          = {2004},
  TITLE         = {Particle Filters for Fault Diagnosis},
  JOURNAL       = {IEEE Robotics and Automation Magazine},
  NOTE          = {Forthcoming}
}