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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
Department机器人学研究室
Source PublicationInternational Journal of Advanced Robotic Systems
ISSN1729-8806
2014
Volume11Pages:1-8
Indexed BySCI ; EI
EI Accession number20142817934183
WOS IDWOS:000338332000001
Contribution Rank1
KeywordCommunication Industrial Robots Machine Design Multipurpose Robots Robot Learning
AbstractIn 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).
Language英语
WOS HeadingsScience & Technology ; Technology
WOS SubjectRobotics
WOS KeywordADAPTIVE APPROXIMATION APPROACH ; POWER-SYSTEMS ; ALGORITHMS
WOS Research AreaRobotics
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/15124
Collection机器人学研究室
Corresponding AuthorShao SL(邵士亮)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.Northeastern University, China
Recommended Citation
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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