Fault Detection of Multi-Wheeled Robot Consensus Based on EKF
Afrah Jouili,
Boumedyen Boussaid,
Ahmed Zouinkhi
et al.
Abstract:Synchronizing a network of robots in consensus is an important task for cooperative work. Detecting faults in a network of robots in consensus is a much more important task. In considering a formation of Wheeled Mobile Robots (WMRs) in a master–slave architecture modeled by graph theory, the main objective of this study was to detect and isolate a fault that appears on a robot of this formation in order to remove it from the formation and continue the execution of the assigned task. In this context, we exploit… Show more
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