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This paper addresses the problem of automatically detecting and quantifyingperformance degradation in remote mobile robots during task execution. A robotmay encounter a variety of uncertainties and adversities during task execution,which can impair its ability to carry out tasks effectively and cause itsperformance to degrade. Such situations can be mitigated or averted by timelydetection and intervention (e.g., by a remote human supervisor taking overcontrol in teleoperation mode). Inspired by patient triaging systems inhospitals, we introduce the framework of "robot vitals" for estimating overall"robot health". A robot's vitals are a set of indicators that estimate theextent of performance degradation faced by a robot at a given point in time.Robot health is a metric that combines robot vitals into a single scalar valueestimate of performance degradation. Experiments, both in simulation and on areal mobile robot, demonstrate that the proposed robot vitals and robot healthcan be used effectively to estimate robot performance degradation duringruntime.

Robot Vitals and Robot Health: Towards Systematically Quantifying Runtime Performance Degradation in Robots Under Adverse Conditions