Robots Avoid Potential Failures through Experience-based Probabilistic Planning Topics: Autonomous Agents; Cognitive Robotics; Control and Supervision Systems; Mobile Robots and Autonomous Systems; Perception and Awareness In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, 111-120, 2015 , Colmar, Alsace, France