Distributed Fault Detection and Isolation for Flocking in a Multi-robot System with Imperfect Communication
Shiliang Shao, Ting Wang, Yao Chen, Xiaofan Li, Zhao Hai · International Journal of Advanced Robotic Systems · 2014
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-information-exchange 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.