Vincenzo Caglioti, Massimo Danieli, and Domenico Sorrenti
system is presented, which monitors the execution of an assigned robot program, in order to detect execution errors. The assigned program is supposed to include sensor instructions, which allow to adapt the execution to variable environment conditions. In the presented system, the task information is represented in terms of a relationship between environment conditions and workcell evlution. The selection of the monitoring sensor detctions is based on the accuracy in checking the state variables and in the ambiguity in matching the sensor measures to the variables to be measured.