We introduce a novel diagnostic reasoning method for robotic systems with multiple robots, to find the causes of observed discrepancies relevant for plan execution. Our method proposes (i) a systematic modification of the robotic action domain description by utilizing defaults, and (ii) algorithms to compute a smallest set of diagnoses (e.g., broken robots) by means of hypothetical reasoning over the modified formalism. The proposed method is applied over various robotic scenarios in cognitive factories.
['Esra Erdem', 'Volkan Patoglu', 'Zeynep Gözen Sarıbatur']
Diagnostic Reasoning for Robotics Using Action Languages