Towards Exogenous Fault Detection in Swarm Robotic Systems

Millard, Alan G.; Timmis, Jon; Winfield, Alan F. T.

doi:10.1007/978-3-662-43645-5_44

Cited by 23 publications

(30 citation statements)

References 4 publications

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“…In future work we intend to extend this approach to implement exogenous fault detection in robot swarms as proposed in [4], with the aim of furthering the development of fault tolerant swarm systems.…”

Section: Discussionmentioning

confidence: 99%

“…In [4] we proposed a novel method of exogenous fault detection capable of detecting partial failures, based on the comparison of expected and observed robot behaviour. Rather than having robots learn the expected behaviour of others over time, they would instead possess a copy of each other's controller code, which could be instantiated within an internal simulator.…”

Section: Introductionmentioning

confidence: 99%

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Run-time detection of faults in autonomous mobile robots based on the comparison of simulated and real robot behaviour

Millard

Timmis

Winfield

2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

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UWE makes no representation or warranties of commercial utility, title, or fitness for a particular purpose or any other warranty, express or implied in respect of any material deposited. UWE makes no representation that the use of the materials will not infringe any patent, copyright, trademark or other property or proprietary rights.UWE accepts no liability for any infringement of intellectual property rights in any material deposited but will remove such material from public view pending investigation in the event of an allegation of any such infringement. Abstract-This paper presents a novel approach to the runtime detection of faults in autonomous mobile robots, based on simulated predictions of real robot behaviour. We show that although simulation can be used to predict real robot behaviour, drift between simulation and reality occurs over time due to the reality gap. This necessitates periodic reinitialisation of the simulation to reduce false positives. Using a simple obstacle avoidance controller afflicted with partial motor failure, we show that selecting the length of this reinitialisation time period is non-trivial, and that there exists a trade-off between minimising drift and the ability to detect the presence of faults. PLEASE SCROLL DOWN FOR TEXT. Run-time Detection of Faults in Autonomous Mobile

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Run-time detection of faults in autonomous mobile robots based on the comparison of simulated and real robot behaviour

Millard

Timmis

Winfield

2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…It would be particularly beneficial for accelerating the implementation of onboard simulations, which are computationally expensive, but have been shown to be useful for embodied evolution [32], prediction of robot behaviour [14], and fault detection [33].…”

Section: B Hardware Accelerationmentioning

confidence: 99%

The Pi-puck extension board: A raspberry Pi interface for the e-puck robot platform

Millard

Joyce

Hilder

et al. 2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-This paper presents the Pi-puck extension board -an interface between the e-puck robot platform and a Raspberry Pi single-board computer that enhances the processing power, memory capacity, and networking capabilities of the robot at a low cost. It allows high-level control algorithms, wireless communication, and computationally expensive operations such as real-time image processing to be handled by a Raspberry Pi, while the e-puck's microcontroller deals with low-level motor control and sensor interfacing.Although two similar extension boards for the e-puck robot platform already exist, they are now out-dated and expensive in comparison. Our open-source hardware design and supporting software infrastructure offer an inexpensive upgrade to the e-puck robot, transforming it into the Pi-puck -a modern and flexible new platform for mobile robotics research.

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“…This approach is referred to as exogenous fault detection [15]. For example, [4] propose an approach inspired by the synchronised flashing behaviour of fireflies in which each robot flashes by lighting up its on-board LEDs.…”

Section: Department Of Engineering Mathematics University Of Bristolmentioning

confidence: 99%

Robust distributed decision-making in robot swarms: Exploiting a third truth state

Crosscombe

Lawry

Hauert

et al. 2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Towards Exogenous Fault Detection in Swarm Robotic Systems

Cited by 23 publications

References 4 publications

Run-time detection of faults in autonomous mobile robots based on the comparison of simulated and real robot behaviour

Run-time detection of faults in autonomous mobile robots based on the comparison of simulated and real robot behaviour

The Pi-puck extension board: A raspberry Pi interface for the e-puck robot platform

Robust distributed decision-making in robot swarms: Exploiting a third truth state

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