Non-Parametric Fault Identification for Space R overs
Autonomous fault detection is prerequisite for autonomous system repair which is of great value for spacecraft where human intervention is expensive, slow, unreliable, and occasionally impossible. We present a method which successfully achieves autonomous fault detection in simulation. The approach uses a nonparametric estimate of the system state updated based upon sensor measurements. Our system does state estimation using a decision-theoretic generalization of particle filters which takes into account the difference in utility of fault detection vs. fault nondetection.