Conference item icon

Conference item

Towards stochastic fault-tolerant control using precision learning and active inference

Abstract:

This work presents a fault-tolerant control scheme for sensory faults in robotic manipulators based on active inference. In the majority of existing schemes a binary decision of whether a sensor is healthy (functional) or faulty is made based on measured data. The decision boundary is called a threshold and it is usually deterministic. Following a faulty decision, fault recovery is obtained by excluding the malfunctioning sensor. We propose a stochastic fault-tolerant scheme based on active i...

Expand abstract
Publication status:
Published
Peer review status:
Peer reviewed

Actions


Access Document


Files:
Publisher copy:
10.1007/978-3-030-93736-2_48

Authors


More by this author
Institution:
University of Oxford
Division:
MPLS
Department:
Engineering Science
Oxford college:
Pembroke College
Role:
Author
ORCID:
0000-0002-7556-6098
Publisher:
Springer
Series:
Communications in Computer and Information Science
Volume:
1524 CCIS
Pages:
681-691
Publication date:
2022-02-17
Event title:
Joint European Conference on Machine Learning and Knowledge Discovery in Databases (ECML 2021)
Event location:
Online
Event website:
https://2021.ecmlpkdd.org/
Event start date:
2021-09-13
Event end date:
2021-09-17
DOI:
EISSN:
1865-0937
ISSN:
1865-0929
ISBN:
9783030937355
Language:
English
Keywords:
Pubs id:
1248365
Local pid:
pubs:1248365
Deposit date:
2023-03-10

Terms of use


Views and Downloads






If you are the owner of this record, you can report an update to it here: Report update to this record

TO TOP