2 papers
eess.SY2026
Geometric Fault Identification via Mirror Descent Learning
Mahdi Taheri, Haeyoon Han, Soon-Jo Chung +1
This paper develops a fault detection and identification (FDI) method for nonlinear control-affine systems under simultaneous actuator and sensor faults. We adopt a geometric appro…
cs.RO2025
A Counterfactual Reasoning Framework for Fault Diagnosis in Robot Perception Systems
Haeyoon Han, Mahdi Taheri, Soon-Jo Chung +1
Perception systems provide a rich understanding of the environment for autonomous systems, shaping decisions in all downstream modules. Hence, accurate detection and isolation of f…