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We present an approach which interfaces the real\u2010time operation of the robot with an intelligent subsystem that performs error analysis and forward recovery if a failure occurs. Our approach involves a special representation of the robot's program that efficiently tracks the robot's operation in real time and is easy to modify to include automatically generated recovery procedures.<\/jats:p>","DOI":"10.1002\/rob.4620030307","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T05:27:35Z","timestamp":1183699655000},"page":"281-300","source":"Crossref","is-referenced-by-count":20,"title":["Reliable real\u2010time robot operation employing intelligent forward recovery"],"prefix":"10.1002","volume":"3","author":[{"given":"Richard E.","family":"Smith","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Maria","family":"Gini","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2007,3,21]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/PROC.1983.12681"},{"key":"e_1_2_1_3_2","series-title":"DHHS (NIOSH) Publication No. 85\u2013103","volume-title":"Request for Assistance in Preventing the Injury of Workers by Robots","author":"Millar J. 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P.Amblerand others \u201cAn experiment in the offline programming of robots \u201dProceedings of the 12th International Symposium on Industrial Robots Paris France June 1982 pp.491\u2013504."},{"key":"e_1_2_1_9_2","doi-asserted-by":"publisher","DOI":"10.1145\/3318.3479"},{"key":"e_1_2_1_10_2","doi-asserted-by":"publisher","DOI":"10.1145\/356725.356729"},{"volume-title":"A structure for plans and behavior","year":"1977","author":"Sacerdoti E.","key":"e_1_2_1_11_2"},{"key":"e_1_2_1_12_2","doi-asserted-by":"publisher","DOI":"10.1016\/0004-3702(71)90010-5"},{"key":"e_1_2_1_13_2","unstructured":"L.Friedman \u201cRobot Learning and Error Correction \u201dProceedings of the 5th International Joint Conference on Artificial Intelligence Cambridge Massachusetts p.736 1977."},{"key":"e_1_2_1_14_2","unstructured":"S.Srinivas \u201cError Recovery in Robot Systems \u201d Ph.D. Thesis California Institute of Technology Pasadena California 1977."},{"key":"e_1_2_1_15_2","unstructured":"M.GiniandG.Gini \u201cTowards Automatic Recovery in Robot Programs \u201dProceedings of the 8th International Joint Conference on Artificial Intelligence Karlsruhe West Germany August1983 pp.821\u2013823."},{"key":"e_1_2_1_16_2","unstructured":"M.Gini R.Doshi M.Gluch R.Smith andI.Zualkernan \u201cThe Role of Knowledge in the Architecture of a Robust Robot Control \u201dProceedings of the 1985 IEEE Conference on Robotics and Automation St. Louis Missouri March 1985."},{"key":"e_1_2_1_17_2","series-title":"Technical Report No. 85\u201324","volume-title":"Symbolic Reasoning as a Basis for Automatic Error Recovery in Robots","author":"Gini M.","year":"1985"},{"key":"e_1_2_1_18_2","first-page":"477","volume-title":"Finite state automaton\u2014Definition of Data Communication Line Control Procedures","author":"Bjorner D.","year":"1970"},{"volume-title":"Applied Computation Theory: Analysis, Design, Modelling","year":"1978","author":"Barnes B. 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