Steps towards model-free execution monitoring on mobile robots

In this paper we present a model-free execution monitor for behavior-based mobile robots. By model-free we mean that the monitoring is based only on the actual execution, without involving any predictive models of the controlled system. Model-free monitors are especially suitable for systems where it is hard to obtain adequate models. In our approach we analyze the activation levels of the different behaviors using a pattern recognition technique. Our model-free execution monitor, which is realized by radial basis function networks, is shown to give a high performance in several realistic simulations.