A Multi-Robot Control Architecture for Fault-Tolerant Sensor-Based Coverage

Özkan, Metin; Kirlik, Gokhan; Parlaktuna, Osman; Yufka, Alpaslan; Yazıcı, Ahmet

doi:10.5772/7252

Cited by 8 publications

(8 citation statements)

References 17 publications

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“…In some of the simplest approaches to decentralized fault detection in robot swarms, robots periodically communicate, either explicitly [ 12 ] or implicitly [ 13 ], that they are still alive and operational. Absence of communication is indicative of a fault.…”

Section: Introductionmentioning

confidence: 99%

Generic, scalable and decentralized fault detection for robot swarms

2017

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Robot swarms are large-scale multirobot systems with decentralized control which means that each robot acts based only on local perception and on local coordination with neighboring robots. The decentralized approach to control confers number of potential benefits. In particular, inherent scalability and robustness are often highlighted as key distinguishing features of robot swarms compared with systems that rely on traditional approaches to multirobot coordination. It has, however, been shown that swarm robotics systems are not always fault tolerant. To realize the robustness potential of robot swarms, it is thus essential to give systems the capacity to actively detect and accommodate faults. In this paper, we present a generic fault-detection system for robot swarms. We show how robots with limited and imperfect sensing capabilities are able to observe and classify the behavior of one another. In order to achieve this, the underlying classifier is an immune system-inspired algorithm that learns to distinguish between normal behavior and abnormal behavior online. Through a series of experiments, we systematically assess the performance of our approach in a detailed simulation environment. In particular, we analyze our system’s capacity to correctly detect robots with faults, false positive rates, performance in a foraging task in which each robot exhibits a composite behavior, and performance under perturbations of the task environment. Results show that our generic fault-detection system is robust, that it is able to detect faults in a timely manner, and that it achieves a low false positive rate. The developed fault-detection system has the potential to enable long-term autonomy for robust multirobot systems, thus increasing the usefulness of robots for a diverse repertoire of upcoming applications in the area of distributed intelligent automation.

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Section: Introductionmentioning

confidence: 99%

Generic, scalable and decentralized fault detection for robot swarms

2017

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“…In order for the system to be able to function reliably, we need a controller that can still achieve certain desired properties when failure occurs. There are many ways to design a controller that can improve the robustness of a robotic system [5,6,7,8,9]. Although literatures propose different algorithms to solve the problem, most of them rely on knowledge of the actuator failure.…”

Section: Introductionmentioning

confidence: 99%

An adaptive actuator failure compensation scheme for a cooperative manipulator system

Rugthum

Tao

2014

Robotica

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SUMMARYThis paper develops a new adaptive actuator failure compensation algorithm for the control of a cooperative robotic system subject to uncertain actuator failures. The benchmark robotic system has two manipulators to balance a rigid platform, and the right-side manipulator contains one actuator and the left-side manipulator has two actuators (one of which may fail during system operation, but it is uncertain how much, when and which actuator may fail). The developed adaptive actuator failure compensation scheme, based on adaptive integration of three individual failure compensators and direct adaptation of controller parameters, is capable of ensuring desired closed-loop stability and asymptotic output tracking, despite the failure uncertainties. Such an adaptive actuator failure compensation method is extended to control of a general cooperative robotic system. Simulation results are shown to verify the desired adaptive failure compensation control performance.

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“…The AHCs' active modelling has the advantage over some existing modelling techniques insofar as only the proportional loss in effectiveness has been considered [2].…”

Section: States' and Ahcs' Parameters' Joint Estimationmentioning

confidence: 99%

“…Fault detection (FD) techniques have been widely researched in many applications to detect faults in sensors and actuators, such as in process industry [1], and with Unmanned Ground Vehicles (UGVs) [2] and fixedwing aircraft [3]. However, few FD applications to RUAVs have been published [4].…”

Section: Introductionmentioning

confidence: 99%

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KF-based Adaptive UKF Algorithm and its Application for Rotorcraft UAV Actuator Failure Estimation

Song

et al. 2012

International Journal of Advanced Robotic Systems

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A new adaptive Unscented Kalman Filter (UKF) algorithm for actuator failure estimation is proposed. A novel filter method with the ability to adapt to the statistical characteristics of noise is presented to improve the estimation accuracy of traditional UKFs. A new algorithm (Kalman Filter (KF) -based adaptive UKF), with the ability to adapt to the statistical characteristic of noise, is proposed to improve the UKF's performance. Such an adaptive mechanism is intended to compensate for the lack of prior knowledge. The asymptotic property of the adaptive UKF is discussed. Actuator Healthy Coefficients (AHCs) are introduced to denote the actuator failure model while the adaptive UKF is employed for the online estimation of both the flight states and the AHCs' parameters of a rotorcraft UAV (RUAV). Simulations are conducted using the model of a ServoHeli-90 RUAV from the Shenyang Institute of Automation, CAS. The results are compared with those obtained by normal UKF to demonstrate the effectiveness and improvements of the adaptive UKF algorithm. Besides this, we also compare this algorithm with the MIT-based one which we proposed in previous research.

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A Multi-Robot Control Architecture for Fault-Tolerant Sensor-Based Coverage

Cited by 8 publications

References 17 publications

Generic, scalable and decentralized fault detection for robot swarms

Generic, scalable and decentralized fault detection for robot swarms

An adaptive actuator failure compensation scheme for a cooperative manipulator system

KF-based Adaptive UKF Algorithm and its Application for Rotorcraft UAV Actuator Failure Estimation

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