Only released in EOL distros:
This package provides a diagnosis engine. It is infact a model based diagnosis engine meaning it uses model of correct behavior of the robot system and current observations to compute diagnosis. It takes model from model server and observations from the observers to provide diagnosis.
- Author: Safdar Zaman, Gerald Steinbauer
- License: GPLv3
- Source: git git://robotics.ist.tugraz.at/tug_ist_model_based_diagnosis.git (branch: None)
Diagnosis engine takes observations in the form of FOL sentences and an abstract diagnosis model (system description) to generate a diagnosis, a set of components that are faulty and a set of components that are still working properly. It follows the principles of model-based diagnosis which uses an abstract model that defines correct behavior and some current observations of the system. Diagnosis engine detects a fault if the outcome of the model and the observation lead to a contradiction. Using a hitting set algorithm the approach calculates diagnoses that resolve the contradiction, i.e., explain the misbehavior. The diagnosis engine locates that component or set of components that is the root cause for the contradiction.