2021/04/05 by Mohamed Baioumy, Corrado Pezzato, Baioumy, Mohamed +6 · 2 citations
Engineering · #Advanced Memory and Neural Computing #CCD and CMOS Imaging Sensors #FOS: Computer and information sciences #FOS: Electrical engineering #Fault Detection and Control Systems #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2104.01817
openalex publication_date 2021/04/05 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
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 isolation of sensory faults, and it does not require additional controllers for fault recovery. Results validating the benefits in a simulated 2-DOF manipulator are presented, and future directions to improve the current fault recovery approach are discussed.