# Meta-Modeling of Assembly Contingencies and Planning for Repair

arXiv: https://arxiv.org/abs/2103.07544 · HTML: https://mlsanity.com/paper/2103.07544/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 2 of its 25 references that are in the map.
- First posted on arXiv 12 Mar 2021.

## Builds on (most cited first, 2 of 2)

- [Behavior Trees in Robotics and AI: An Introduction](https://mlsanity.com/paper/1709.00084/) (2017)
- [Towards Blended Reactive Planning and Acting using Behavior Trees](https://mlsanity.com/paper/1611.00230/) (2016)

## Abstract (arXiv)

The World Robotics Challenge (2018 & 2020) was designed to challenge teams to design systems that are easy to adapt to new tasks and to ensure robust operation in a semi-structured environment. We present a layered strategy to transform missions into tasks and actions and provide a set of strategies to address simple and complex failures. We propose a model for characterizing failures using this model and discuss repairs. Simple failures are by far the most common in our WRC system and we also present how we repaired them.