Leon Moonen

2 papers indexed

arxivcs.ROcs.LGcs.SE2026-07-13

Self-Healing Visual Recovery for Autonomous Ground Vehicles Using Camera-Only Visual Odometry

Jakob Solberg Berntzen, Safia Fatima, Leon Moonen

Low-cost unmanned ground vehicles are often used in indoor places like warehouses, inspection corridors, and farm rows, where painted floor lines guide the robot. Line following is useful because it only needs one camera and little computing power, but it can fail when the line i…

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arxivcs.SEcs.AIcs.LG2026-07-03

CRRL: A Causality-Based Reinforcement Learning Framework for Autonomous System Recovery

Safia Fatima, Kai Olav Ellefsen, Leon Moonen

Traditional reinforcement learning (RL) for recovery in autonomous systems lacks causal understanding and generalizes poorly to novel failure scenarios. RL policies often stall in failure states, spending up to 70% of an episode immobilized. Rule-based recovery alone is inadequat…

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