Fault-tolerant Control of Robot Manipulators with Sensory Faults using Unbiased Active Inference
Open accessAbstract
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.
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Active inference can unify abstract decision-making with guarantees, adaptive and fault-tolerant torque control, and state estimation and learning.
“Active inference can unify 1) abstract decision-making with guarantees, as in this article, 2) adaptive [12] and fault tolerant [10], [11], [46] torque control, as well as 3) state estimation and learning.”
From Active Inference and Behavior Trees for Reactive Action Planning and Execution in Robotics (2023) · cites this paper as [11]
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Research works printed but not linked: 3
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Cited by
Sorted by citations
Active Inference and Behavior Trees for Reactive Action Planning and Execution in Robotics
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- Authors
- Baioumy, M., Pezzato, C., Ferrari, R., Corbato, C. H., & Hawes, N.
- Affiliations
- University of Oxford (GB)
- Delft University of Technology (NL)
- Venue
- 2021 European Control Conference (ECC)
- Publisher
- IEEE
- Published
- 2021-06-29
- Pages
- 1119-1125
- OpenAlex
- W3139813835
- Cited by
- 19
- References
- 30
- Citations by year
- 2026: 3 · 2025: 4 · 2024: 3 · 2023: 4 · 2022: 3 · 2021: 2
- FWCI
- 4.48
- Type
- conference paper
- Language
- en
- Open access
- green
- arxiv.org
- Locations
- European Control Conference (ECC) (publishedVersion)
- arXiv (Cornell University) (submittedVersion)
- Data Archiving and Networked Services (DANS) (submittedVersion, other-oa)
- Research Repository (Delft University of Technology) (submittedVersion)
- arXiv (Cornell University)
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Fault Detection and Control Systems
- Life Sciences › Neuroscience › Cognitive Neuroscience › Embodied and Extended Cognition
- Physical Sciences › Engineering › Control and Systems Engineering › Advanced Control Systems Optimization
- Keywords
- fault-tolerant control, robot manipulators, active inference, free energy principle, fault detection and isolation, residual generation, probabilistic thresholds, fault recovery
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