Fault Diagnosis of Hybrid Systems: an Onboard Camera Model

In this paper we apply a method for diagnosing faults on hybrid systems to a model of a camera mounted on a mobile robot. A hybrid system is a system mixing continuous and discrete behaviors that cannot be faithfully modeled neither by using a formalism with continuous dynamics only nor by a formalism including only discrete dynamics. We use the well known framework of hybrid automata for modeling hybrid systems, and try do detect faults exploiting a Fault Diagnosis Game on them, with two players: the environment and the diagnoser. The environment controls the evolution of the system and chooses whether and when a fault occurs. The diagnoser observes the external behavior of the system and announces whether a fault has occurred or not. The case study we introduce here is a simplified model of a camera mounted on a mobile rover that has to take pictures of some defined locations of the environment. We add the possibility of a stuck fault on the camera motor to apply the theory and show its effectiveness.