Research on execution monitoring in its own is still not very common within the field of robotics and autonomous systems. It is more common that researchers interested in control architectures or execution planning include monitoring as a small part of their work when they realize that it is needed. On the other hand, execution monitoring has been a well studied topic within industrial control, although control theorists seldom use this term. Instead they refer to the problem of fault detection and isolation (FDI). This survey will use the knowledge and terminology from industrial control in order to classify different execution monitoring approaches applied to robotics. The survey is particularly focused on autonomous mobile robotics.
The literature on the second area of interest, the plan execution monitoring, is very broad; seminal studies on this topic come from the field of industrial control, where it is often referred to as the problem of fault detection and isolation (FDI; REF .
Execution monitoring in robotics: A survey
Robotics and Autonomous Systems
Computer Science