Distributed Fault Detection and Isolation for Flocking in a Multi-robot System with Imperfect Communication | Zendy

Shiliang Shao | Zendy; Ting Wang | Zendy; Yao Chen | Zendy; Xiaofan Li | Zendy; Hai Zhao | Zendy

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Distributed Fault Detection and Isolation for Flocking in a Multi-robot System with Imperfect Communication

Author(s) -

Shiliang Shao,

Ting Wang,

Yao Chen,

Xiaofan Li,

Hai Zhao

Publication year - 2014

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/58601

Subject(s) - computer science , flocking (texture) , fault detection and isolation , robot , isolation (microbiology) , distributed computing , imperfect , network packet , real time computing , information exchange , artificial intelligence , computer network , telecommunications , actuator , linguistics , philosophy , materials science , microbiology and biotechnology , composite material , biology

In this paper, we focus on distributed fault detection and isolation (FDI) for a multi-robot system where multiple robots execute a flocking task. Firstly, we propose a fault detection method based on the local-information-exchange and sensor-measurement technologies to cover cases of both perfect communication and imperfect communication. The two detection technologies can be adaptively selected according to the packet loss rate (PLR). Secondly, we design a fault isolation method, considering a situation in which faulty robots still influence the behaviours of other robots. Finally, a complete FDI scheme, based on the proposed detection and isolation methods, is simulated in various scenarios. The results demonstrate that our FDI scheme is effective

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