Planning multistep error detection and recovery strategies

The author describes techniques for planning multistep error detection and recovery strategies for robots operating in the presence of uncertainty. He introduces two approaches for their synthesis: the push-forward algorithm and failure mode analysis. He has implemented the theory in the form of a planner, called LIMITED, in the domain of planar assemblies.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>