Distributed Fault Detection and Isolation for Flocking in a Multi-robot System with Imperfect Communication. (11th June 2014)

• Record Type: Journal Article
• Authors: Shiliang, Shao; Ting, Wang; Chen, Yao; Xiaofan, Li; Hai, Zhao
• Is Part Of: International journal of advanced robotic systems. Volume 11:Number 6(2014)
• Publication Date: 2014-06-11
• Subjects: Multi-Robot -- Flocking -- Fault Detection -- Isolation; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/58601
• Languages: English
• ISSNs: 1729-8806

Abstract

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.