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This article presents an approach to improve this ability for a robotic system executing a series of independent tasks by using a dynamic decision network (DDN). A simulation case study of an industrial inspection drone performing contact-based inspection is used to demonstrate the capabilities of the resulting system. The case study demonstrates that the system is able to infer the presence of internal faults and the state of the environment by fusing information over time. This information is used to make risk-informed decisions enabling the system to proactively avoid failure and to minimize the consequence of faults. 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