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Unexpected events can cause the failure of apparently "correct" robot programs. The interaction with the real world and its unpredictability make the problem of error recovery in robot programming specially important. The goal of the paper is to present a general framework in which the activity of error recovery can be automated. This is accomplished by introducing a monitor program which identifies the appearance of any error and attempt to correct that error. The correction is done using adoi:10.1007/bfb0014790 dblp:conf/cim/GiniG83a fatcat:ut24bnl5u5hs3k34vdad5ij4tq