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Distributed fault detection and isolation for flocking in a multi-robot system with imperfect communication
Shao SL(邵士亮); Wang T(王挺); Yao C(姚辰); Li XF(李小凡); Hai, Zhao
作者部门机器人学研究室
关键词Communication Industrial Robots Machine Design Multipurpose Robots Robot Learning
发表期刊International Journal of Advanced Robotic Systems
ISSN1729-8806
2014
卷号11页码:1-8
收录类别SCI ; EI
EI收录号20142817934183
WOS记录号WOS:000338332000001
产权排序1
摘要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-informationexchange 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. © 2014 The Author(s).
语种英语
WOS标题词Science & Technology ; Technology
WOS类目Robotics
关键词[WOS]ADAPTIVE APPROXIMATION APPROACH ; POWER-SYSTEMS ; ALGORITHMS
WOS研究方向Robotics
引用统计
被引频次:1[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/15124
专题机器人学研究室
通讯作者Shao SL(邵士亮)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.Northeastern University, China
推荐引用方式
GB/T 7714
Shao SL,Wang T,Yao C,et al. Distributed fault detection and isolation for flocking in a multi-robot system with imperfect communication[J]. International Journal of Advanced Robotic Systems,2014,11:1-8.
APA Shao SL,Wang T,Yao C,Li XF,&Hai, Zhao.(2014).Distributed fault detection and isolation for flocking in a multi-robot system with imperfect communication.International Journal of Advanced Robotic Systems,11,1-8.
MLA Shao SL,et al."Distributed fault detection and isolation for flocking in a multi-robot system with imperfect communication".International Journal of Advanced Robotic Systems 11(2014):1-8.
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