Co-diagnosing configuration failures in co-robotic systems

Adam Taylor, Sebastian Elbaum, Carrick Detweiler

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations


Robotic systems often have complex configuration spaces that, when poorly set, can cause failures. In this work we take advantage of the close synergy between user and robot in co-robotic systems to better diagnose and overcome configuration failures. We leverage users' understanding of the system to mark failures they observe while the system is in operation. A marked failure indicates that the robot either "did not do something when it should have" or "did something when it should not have". The failure marking is coupled with an automated analysis approach that identifies code predicates involving configuration parameters that may be relevant to each failure type, ranks the parameters according to their potential to be associated with the failure, and suggests adjustments based on the run-time outcome of those predicates.We present the approach, its implementation, and a preliminary study on a configurable unmanned air system. The results show how the approach can successfully help diagnose and adjust faulty configuration parameters in co-robotic systems.

Original languageEnglish (US)
Title of host publicationIROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781509037629
StatePublished - Nov 28 2016
Event2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of
Duration: Oct 9 2016Oct 14 2016

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866


Conference2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Country/TerritoryKorea, Republic of

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications


Dive into the research topics of 'Co-diagnosing configuration failures in co-robotic systems'. Together they form a unique fingerprint.

Cite this