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Fault-tolerant control of robot manipulators with sensory faults using unbiased active inference

Abstract:

This work presents a novel fault-tolerant control scheme based on active inference. Specifically, a new formulation of active inference which, unlike previous solutions, provides unbiased state estimation and simplifies the definition of probabilistically robust thresholds for fault-tolerant control of robotic systems using the free-energy. The proposed solution makes use of the sensory prediction errors in the free-energy for the generation of residuals and thresholds for fault detection and...

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Publication status:
Published
Peer review status:
Peer reviewed

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Publisher copy:
10.23919/ecc54610.2021.9654913

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Institution:
University of Oxford
Division:
MPLS
Department:
Engineering Science
Role:
Author
Publisher:
IEEE
Host title:
Proceedings of the 2021 European Control Conference (ECC)
Pages:
1119-1125
Publication date:
2022-01-03
Event title:
2021 European Control Conference (ECC)
Event location:
Online
Event website:
http://ieeecss.org/event/2021-european-control-conference
Event start date:
2021-06-29
Event end date:
2021-07-02
DOI:
EISBN:
978-1-6654-7945-5
ISBN:
978-9-4638-4236-5
Language:
English
Keywords:
Pubs id:
1242858
Local pid:
pubs:1242858
Deposit date:
2022-03-09

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