Introduction
This page presents an uncertainty taxonomy (UncerTax) for self-adaptive robotics, providing a common vocabulary and structured classification to describe where uncertainty arises, how it behaves, and how it impacts robotic systems and their stakeholders. The taxonomy is derived from research on identifying uncertainty in self-adaptive systems, published in IEEE Software [1].
Reference:
[1] Hassan Sartaj, Jalil Boudjadar, Mirgita Frasheri, Shaukat Ali, and Peter Gorm Larsen, "Identifying Uncertainty in Self-Adaptive Robotics With Large Language Models," IEEE Software, vol. 43, no. 1, pp. 89-97, Jan.-Feb. 2026, DOI: 10.1109/MS.2025.3620578. Link
Taxonomy Dimensions Overview
The following dimensions serve as the interpretive basis for the taxonomy classification presented in the explorer below.
| Dimension | Explanation | Example |
|---|---|---|
| Nature | How uncertainty behaves: Deterministic/Stochastic, Static/Dynamic. | Stochastic: Random sensor noise; Dynamic: Moving target. |
| Type | Nature of uncertainty: Aleatory (randomness) vs Epistemic (lack of knowledge). | Aleatory: Sensor noise; Epistemic: Incomplete map of the environment. |
| Stage | When uncertainty occurs: Design, Development, Testing, or Operation stages. | Design: Incomplete requirements; Operation: Real-time obstacle detection. |
| Temporal | Time characteristics: Short-Term/Transient and Long-Term/Persistent. | Short-Term: GPS signal loss; Long-Term: Sensor drift. |
| Context of Occurrence | Where it arises: Environmental, Task, Interaction, or Mission. | Environmental: Weather; Task: Unclear goals; Interaction: User input. |
| Source of Adaptation | Origin: External (environment) vs Internal (robot). | External: Changing environmental conditions; Internal: Hardware wear. |
| Scope | Where uncertainty impacts: Local/Global, Component/System Level. | Local: Single sensor; Global: Uncertainty affecting the entire robot. |
| Risk/Severity | How risky the uncertainty is: Low/High Risk. | High Risk: Uncertainty in braking during autonomous driving. |
| Affect | What is impacted: Performance, Safety, Adaptability, or Reliability. | Safety: Avoiding collisions; Performance: Task completion. |
| Propagation | How uncertainty spreads: Isolated versus Cascading. | Cascading: Localization error leading to path-planning errors. |
| Resolution | Approach to handling: Reactive/Proactive, Manual/Automated. | Reactive: Robot reacts to obstacles; Proactive: Prediction models. |
| Data Characteristics | Nature of data: Incomplete, Ambiguous, or Noisy. | Noisy: Sensor data errors; Ambiguous: Misinterpreted readings. |
| Ethical Implications | Considerations for trust, transparency, bias, and fairness. | Bias: Incorrectly prioritizing users due to biased training data. |
Uncertainty Taxonomy Explorer
Explore the full dataset. Each item expands to show the complete 13-dimension classification details.
🔍 Identification Methods
Hardware specifications
NatureStatic, Deterministic
TypeEpistemic
StageDesign
TemporalLong-term
OccurrenceHardware
AdaptationInternal
ScopeLocal, Component
RiskLow
AffectSafety, Reliability
PropagationIsolated
DataPrecise
EthicalTransparency
Assembling hardware parts
NatureStatic, Deterministic
TypeEpistemic
StageDevelopment
TemporalShort-term
OccurrenceHardware, Environmental
AdaptationInternal
ScopeLocal, Component
RiskModerate
AffectPerformance, Safety
PropagationCascading
DataAmbiguous
EthicalBias
Operations/ field testing
NatureDynamic, Stochastic
TypeAleatoric
StageOperational
TemporalShort-term
OccurrenceEnvironmental, Software
AdaptationExternal
ScopeGlobal, System
RiskHigh
AffectSafety, Reliability
PropagationCascading
DataNoisy
EthicalFairness
Analyzing deviations from expected behavior
NatureDynamic, Stochastic
TypeEpistemic
StageTesting
TemporalLong-term
OccurrenceSoftware
AdaptationInternal
ScopeGlobal, System
RiskHigh
AffectAdaptability, Performance
PropagationCascading
DataIncomplete
EthicalTrust
Formal modeling with nondeterminism
NatureStatic, Deterministic
TypeEpistemic
StageDesign
TemporalLong-term
OccurrenceSoftware, Environmental
AdaptationInternal
ScopeGlobal, System
RiskHigh
AffectPerformance, Adaptability
PropagationIsolated
DataPrecise
EthicalTransparency
Intuition
NatureDynamic, Stochastic
TypeOther
StageDesign
TemporalShort-term
OccurrenceEnvironmental
AdaptationInternal
ScopeLocal, Component
RiskModerate
AffectSafety, Reliability
PropagationIsolated
DataAmbiguous
EthicalBias
Proof of concept demonstration
NatureStatic, Deterministic
TypeAleatoric
StageTesting
TemporalShort-term
OccurrenceHardware, Environmental
AdaptationExternal
ScopeLocal, Component
RiskLow
AffectPerformance, Safety
PropagationIsolated
DataPrecise
EthicalFairness
Component variations
NatureStatic, Deterministic
TypeAleatoric
StageOperational
TemporalShort-term
OccurrenceHardware
AdaptationExternal
ScopeLocal, Component
RiskModerate
AffectReliability, Safety
PropagationCascading
DataNoisy
EthicalTransparency
Sensor data analysis
NatureDynamic, Stochastic
TypeEpistemic
StageDevelopment
TemporalShort-term
OccurrenceEnvironmental, Hardware
AdaptationInternal
ScopeLocal, Component
RiskHigh
AffectReliability, Safety
PropagationCascading
DataNoisy
EthicalTrust
🌊 Common Sources of Uncertainty
Human Interaction Errors
NatureDynamic, Stochastic
TypeAleatoric
StageOperational
TemporalShort-Term
OccurrenceLocal, Component
AdaptationExternal
ScopeLocal, Component
RiskHigh
AffectSafety, Reliability
PropagationCascading
DataNoisy
EthicalTransparency
Sensor Noise
NatureDynamic, Stochastic
TypeAleatoric
StageOperational
TemporalShort-Term
OccurrenceLocal, Component
AdaptationExternal
ScopeLocal, Component
RiskModerate
AffectReliability, Safety
PropagationIsolated
DataNoisy
EthicalFairness
Actuator Noise
NatureDynamic, Stochastic
TypeAleatoric
StageOperational
TemporalShort-Term
OccurrenceLocal, Component
AdaptationExternal
ScopeLocal, Component
RiskModerate
AffectPerformance, Safety
PropagationIsolated
DataNoisy
EthicalFairness
Environment
NatureDynamic, Stochastic
TypeAleatoric
StageOperational
TemporalLong-Term
OccurrenceGlobal, System
AdaptationExternal
ScopeGlobal, System
RiskHigh
AffectAdaptability, Safety
PropagationCascading
DataAmbiguous
EthicalTrust
Network Issues
NatureDynamic, Stochastic
TypeEpistemic
StageOperational
TemporalShort-Term
OccurrenceGlobal, System
AdaptationExternal
ScopeGlobal, System
RiskHigh
AffectPerformance, Safety
PropagationCascading
DataIncomplete
EthicalTransparency
Hardware/ Mechanical Failure
NatureStatic, Deterministic
TypeAleatoric
StageOperational
TemporalLong-Term
OccurrenceLocal, Component
AdaptationInternal
ScopeLocal, Component
RiskHigh
AffectReliability, Safety
PropagationCascading
DataIncomplete
EthicalTransparency
Frequent Software Updates
NatureDynamic, Stochastic
TypeEpistemic
StageDevelopment
TemporalLong-Term
OccurrenceGlobal, System
AdaptationInternal
ScopeGlobal, System
RiskModerate
AffectAdaptability, Performance
PropagationCascading
DataAmbiguous
EthicalTrust
Machine Learning Components
NatureDynamic, Stochastic
TypeEpistemic
StageDesign
TemporalLong-Term
OccurrenceGlobal, System
AdaptationInternal
ScopeGlobal, System
RiskHigh
AffectAdaptability, Reliability
PropagationCascading
DataAmbiguous
EthicalBias
System Integration
NatureStatic, Deterministic
TypeEpistemic
StageTesting
TemporalLong-Term
OccurrenceGlobal, System
AdaptationInternal
ScopeGlobal, System
RiskHigh
AffectAdaptability, Safety
PropagationCascading
DataIncomplete
EthicalTransparency
Mathematical Models/Parameter Inaccuracies
NatureStatic, Deterministic
TypeEpistemic
StageDesign
TemporalLong-Term
OccurrenceLocal, Component
AdaptationInternal
ScopeLocal, Component
RiskModerate
AffectAdaptability, Performance
PropagationIsolated
DataPrecise
EthicalTrust
Localization Issues
NatureDynamic, Stochastic
TypeAleatoric
StageOperational
TemporalShort-Term
OccurrenceLocal, Component
AdaptationExternal
ScopeLocal, Component
RiskModerate
AffectPerformance, Safety
PropagationCascading
DataNoisy
EthicalFairness
⚠️ Uncertainty Impacts
Safety Risk
NatureDynamic, Stochastic
TypeAleatoric
StageOperational
TemporalShort-Term
OccurrenceGlobal, System
AdaptationExternal
ScopeGlobal, System
RiskHigh
AffectSafety
PropagationCascading
DataNoisy
EthicalTrust
Prediction Accuracy Suffers
NatureDynamic, Stochastic
TypeEpistemic
StageTesting
TemporalLong-Term
OccurrenceGlobal, System
AdaptationInternal
ScopeGlobal, System
RiskHigh
AffectPerformance, Reliability
PropagationCascading
DataAmbiguous
EthicalTransparency
Adds Complexity
NatureDynamic, Stochastic
TypeEpistemic
StageDesign
TemporalLong-Term
OccurrenceLocal, Component
AdaptationInternal
ScopeLocal, Component
RiskModerate
AffectPerformance
PropagationIsolated
DataIncomplete
EthicalFairness
Unpredictable Behavior/Wrong Actions
NatureDynamic, Stochastic
TypeAleatoric
StageOperational
TemporalShort-Term
OccurrenceGlobal, System
AdaptationExternal
ScopeGlobal, System
RiskHigh
AffectSafety, Reliability
PropagationCascading
DataNoisy
EthicalTrust
Limit Scope of Verification Activities
NatureStatic, Deterministic
TypeEpistemic
StageTesting
TemporalLong-Term
OccurrenceGlobal, System
AdaptationInternal
ScopeGlobal, System
RiskModerate
AffectReliability
PropagationIsolated
DataPrecise
EthicalTransparency
Increase Cost and Development Time
NatureStatic, Deterministic
TypeEpistemic
StageDevelopment
TemporalLong-Term
OccurrenceGlobal, System
AdaptationInternal
ScopeGlobal, System
RiskModerate
AffectPerformance
PropagationIsolated
DataAmbiguous
EthicalFairness
Reduced Performance
NatureDynamic, Stochastic
TypeAleatoric
StageOperational
TemporalShort-Term
OccurrenceLocal, Component
AdaptationExternal
ScopeLocal, Component
RiskModerate
AffectPerformance
PropagationCascading
DataNoisy
EthicalTrust
Reduced Autonomy/Human Intervention
NatureDynamic, Stochastic
TypeEpistemic
StageOperational
TemporalLong-Term
OccurrenceGlobal, System
AdaptationInternal
ScopeGlobal, System
RiskHigh
AffectReliability, Adaptability
PropagationCascading
DataIncomplete
EthicalTransparency
Necessity for Frequent ML Training
NatureDynamic, Stochastic
TypeEpistemic
StageDevelopment
TemporalLong-Term
OccurrenceGlobal, System
AdaptationInternal
ScopeGlobal, System
RiskHigh
AffectReliability, Adaptability
PropagationCascading
DataAmbiguous
EthicalBias
Compromise Reliability
NatureDynamic, Stochastic
TypeEpistemic
StageOperational
TemporalShort-Term
OccurrenceGlobal, System
AdaptationInternal
ScopeGlobal, System
RiskHigh
AffectReliability, Safety
PropagationCascading
DataNoisy
EthicalFairness
Affects Usability
NatureStatic, Deterministic
TypeEpistemic
StageDesign
TemporalLong-Term
OccurrenceLocal, Component
AdaptationInternal
ScopeLocal, Component
RiskModerate
AffectUsability
PropagationIsolated
DataPrecise
EthicalTransparency
🛡️ Mitigation Techniques
Risk Assessment
NatureStatic, Deterministic
TypeEpistemic
StageDesign
TemporalLong-Term
OccurrenceGlobal, System
AdaptationInternal
ScopeGlobal, System
RiskHigh
AffectSafety, Reliability
PropagationCascading
DataPrecise
EthicalTransparency
Failure Identification/Localization
NatureDynamic, Stochastic
TypeEpistemic
StageOperational
TemporalShort-Term
OccurrenceLocal, Component
AdaptationInternal
ScopeLocal, Component
RiskHigh
AffectSafety, Performance
PropagationCascading
DataNoisy
EthicalTrust
Use Additional Data Sources
NatureDynamic, Stochastic
TypeEpistemic
StageDevelopment
TemporalShort-Term
OccurrenceLocal, Component
AdaptationExternal
ScopeLocal, Component
RiskModerate
AffectReliability, Performance
PropagationIsolated
DataAmbiguous
EthicalFairness
Probabilistic Modeling of Errors/Failures
NatureDynamic, Stochastic
TypeAleatoric
StageDesign
TemporalLong-Term
OccurrenceGlobal, System
AdaptationInternal
ScopeGlobal, System
RiskHigh
AffectSafety, Reliability
PropagationCascading
DataNoisy
EthicalTransparency
Testing and Validation
NatureStatic, Deterministic
TypeEpistemic
StageTesting
TemporalLong-Term
OccurrenceGlobal, System
AdaptationInternal
ScopeGlobal, System
RiskModerate
AffectReliability, Performance
PropagationCascading
DataPrecise
EthicalTrust
Simulation/Digital Twins
NatureDynamic, Stochastic
TypeEpistemic
StageDesign
TemporalLong-Term
OccurrenceGlobal, System
AdaptationInternal
ScopeGlobal, System
RiskModerate
AffectPerformance, Adaptability
PropagationCascading
DataIncomplete
EthicalBias
Continuous Monitoring/Observers
NatureDynamic, Stochastic
TypeAleatoric
StageOperational
TemporalShort-Term
OccurrenceLocal, Component
AdaptationExternal
ScopeLocal, Component
RiskHigh
AffectSafety, Adaptability
PropagationCascading
DataNoisy
EthicalTransparency
Behavior Comparison
NatureStatic, Deterministic
TypeEpistemic
StageTesting
TemporalShort-Term
OccurrenceLocal, Component
AdaptationInternal
ScopeLocal, Component
RiskModerate
AffectReliability
PropagationIsolated
DataPrecise
EthicalFairness
Theorem Proving/Formal Verification
NatureStatic, Deterministic
TypeEpistemic
StageDesign
TemporalLong-Term
OccurrenceGlobal, System
AdaptationInternal
ScopeGlobal, System
RiskHigh
AffectSafety, Reliability
PropagationCascading
DataPrecise
EthicalTransparency
Hardware Upgrade
NatureStatic, Deterministic
TypeAleatoric
StageDevelopment
TemporalLong-Term
OccurrenceLocal, Component
AdaptationExternal
ScopeLocal, Component
RiskHigh
AffectPerformance, Reliability
PropagationCascading
DataNoisy
EthicalFairness
Machine Learning/Data-Driven Methods
NatureDynamic, Stochastic
TypeEpistemic
StageDevelopment
TemporalLong-Term
OccurrenceGlobal, System
AdaptationInternal
ScopeGlobal, System
RiskHigh
AffectAdaptability, Performance
PropagationCascading
DataAmbiguous
EthicalTrust
Task Isolation
NatureStatic, Deterministic
TypeEpistemic
StageDevelopment
TemporalShort-term
OccurrenceLocal, Component
AdaptationInternal
ScopeLocal, Component
RiskModerate
AffectPerformance
PropagationIsolated
DataPrecise
EthicalTransparency
Plausibility Checks
NatureStatic, Deterministic
TypeEpistemic
StageTesting
TemporalShort-Term
OccurrenceLocal, Component
AdaptationVerified
ScopeLocal, Component
RiskModerate
AffectReliability, Safety
PropagationIsolated
DataSpecific
EthicalResponsibility
Sensor Fusion
NatureDynamic, Stochastic
TypeAleatoric
StageOperational
TemporalShort-Term
OccurrenceLocal, Component
AdaptationIntegrated
ScopeLocal, Component
RiskModerate
AffectReliability, Safety
PropagationMedium
DataReal-time
EthicalFairness
Adaptive Planners/Safety Systems
NatureDynamic, Stochastic
TypeEpistemic
StageOperational
TemporalLong-Term
OccurrenceGlobal, System
AdaptationAdaptive
ScopeGlobal, System
RiskHigh
AffectSafety, Adaptability
PropagationHigh
DataDynamic
EthicalAccountability
Uncertainty Quantification
NatureStatic, Deterministic
TypeEpistemic
StageDesign
TemporalLong-Term
OccurrenceGlobal, System
AdaptationQuantitative
ScopeGlobal, System
RiskHigh
AffectReliability, Performance
PropagationMedium
DataStatistical
EthicalTransparency
Human Aware Navigation
NatureDynamic, Stochastic
TypeAleatoric
StageOperational
TemporalShort-Term
OccurrenceLocal, Component
AdaptationResponsive
ScopeLocal, Component
RiskHigh
AffectSafety, Reliability
PropagationHigh
DataContext-aware
EthicalEthics-Driven
Trustworthiness Verification
NatureStatic, Deterministic
TypeEpistemic
StageTesting
TemporalLong-Term
OccurrenceGlobal, System
AdaptationVerified
ScopeGlobal, System
RiskHigh
AffectSafety, Reliability
PropagationLow
DataComprehensive
EthicalTrust
Compliance with Safety Standards
NatureStatic, Deterministic
TypeEpistemic
StageDesign
TemporalLong-Term
OccurrenceGlobal, System
AdaptationStandardized
ScopeGlobal, System
RiskModerate
AffectSafety, Reliability
PropagationLow
DataSpecific
EthicalRegulation
Software/Algorithms Upgrade
NatureStatic, Deterministic
TypeEpistemic
StageDevelopment
TemporalLong-Term
OccurrenceLocal, Component
AdaptationUpgradable
ScopeLocal, Component
RiskHigh
AffectPerformance, Reliability
PropagationMedium
DataModular
EthicalAdaptability
🤖 Robotic Uncertainty Cases
Sensor Occlusion/LIDAR Errors
NatureDynamic, Stochastic
TypeAleatoric
StageOperational
TemporalShort-Term
OccurrenceLocal, Component
AdaptationLimited
ScopeLocal, Component
RiskHigh
AffectReliability, Safety
PropagationMedium
DataReal-time
EthicalPrivacy
Less Experienced Human Interaction
NatureDynamic, Stochastic
TypeAleatoric
StageOperational
TemporalShort-Term
OccurrenceLocal, Component
AdaptationAdaptive
ScopeLocal, Component
RiskModerate
AffectSafety, Reliability
PropagationLow
DataContext-aware
EthicalUser-Centric
Object Miss Detection/Localization
NatureDynamic, Stochastic
TypeAleatoric
StageTesting
TemporalShort-Term
OccurrenceLocal, Component
AdaptationSpecific
ScopeLocal, Component
RiskModerate
AffectReliability, Performance
PropagationMedium
DataStatistical
EthicalResponsibility
Unexpected Navigation Behavior
NatureDynamic, Stochastic
TypeEpistemic
StageOperational
TemporalShort-Term
OccurrenceGlobal, System
AdaptationAdaptive
ScopeGlobal, System
RiskHigh
AffectSafety, Adaptability
PropagationHigh
DataDynamic
EthicalAccountability
Extreme Environmental Conditions
NatureDynamic, Stochastic
TypeAleatoric
StageOperational
TemporalLong-Term
OccurrenceGlobal, System
AdaptationPredictive
ScopeGlobal, System
RiskHigh
AffectAdaptability, Safety
PropagationHigh
DataContext-aware
EthicalSafety-Priority
Inaccuracies in Object Interactions
NatureStatic, Deterministic
TypeAleatoric
StageTesting
TemporalShort-Term
OccurrenceLocal, Component
AdaptationLimited
ScopeLocal, Component
RiskModerate
AffectReliability, Performance
PropagationLow
DataSpecific
EthicalResponsibility
Deviation from the Goal
NatureDynamic, Stochastic
TypeEpistemic
StageOperational
TemporalShort-Term
OccurrenceGlobal, System
AdaptationAdaptive
ScopeGlobal, System
RiskHigh
AffectPerformance, Safety
PropagationHigh
DataDynamic
EthicalSafety-Priority
Interface Complexity
NatureStatic, Deterministic
TypeEpistemic
StageDesign
TemporalLong-Term
OccurrenceLocal, Component
AdaptationStandardized
ScopeLocal, Component
RiskModerate
AffectUsability
PropagationLow
DataModular
EthicalUser-Centric
Incorrect Parameters/Misconfigurations
NatureStatic, Deterministic
TypeEpistemic
StageDevelopment
TemporalLong-Term
OccurrenceLocal, Component
AdaptationVerified
ScopeLocal, Component
RiskHigh
AffectReliability, Performance
PropagationLow
DataModular
EthicalResponsibility
Low Data Quality/Accuracy/Precision
NatureStatic, Deterministic
TypeEpistemic
StageDevelopment
TemporalLong-Term
OccurrenceLocal, Component
AdaptationVerified
ScopeLocal, Component
RiskHigh
AffectReliability, Safety
PropagationMedium
DataStatistical
EthicalData Integrity
Localization Drift/Errors
NatureDynamic, Stochastic
TypeAleatoric
StageOperational
TemporalShort-Term
OccurrenceLocal, Component
AdaptationLimited
ScopeLocal, Component
RiskModerate
AffectPerformance, Safety
PropagationMedium
DataReal-time
EthicalSafety-Priority
Unexpected Human Behavior
NatureDynamic, Stochastic
TypeAleatoric
StageOperational
TemporalShort-Term
OccurrenceLocal, Component
AdaptationAdaptive
ScopeLocal, Component
RiskHigh
AffectSafety, Reliability
PropagationHigh
DataContext-aware
EthicalUser-Centric
Self-collision
NatureDynamic, Stochastic
TypeAleatoric
StageTesting
TemporalShort-Term
OccurrenceLocal, Component
AdaptationLimited
ScopeLocal, Component
RiskModerate
AffectSafety
PropagationLow
DataSpecific
EthicalSafety-Priority
Unexpected Sensor Malfunctions
NatureDynamic, Stochastic
TypeAleatoric
StageOperational
TemporalShort-Term
OccurrenceLocal, Component
AdaptationPredictive
ScopeLocal, Component
RiskHigh
AffectReliability, Safety
PropagationMedium
DataReal-time
EthicalReliability-Focused
Transfer Learning Challenges
NatureStatic, Deterministic
TypeEpistemic
StageDevelopment
TemporalLong-Term
OccurrenceGlobal, System
AdaptationAdaptive
ScopeGlobal, System
RiskHigh
AffectAdaptability, Performance
PropagationHigh
DataStatistical
EthicalFairness-Oriented
Component Misalignment/Variability
NatureStatic, Deterministic
TypeAleatoric
StageDevelopment
TemporalShort-term
OccurrenceLocal, Component
AdaptationLimited
ScopeLocal, Component
RiskModerate
AffectReliability, Performance
PropagationMedium
DataModular
EthicalResponsibility