期刊论文

Distributed fault detection and isolation for flocking in a multi-robot system with imperfect communication

标题 Distributed fault detection and isolation for flocking in a multi-robot system with imperfect communication
description.department 机器人学研究室
contributor.correspondent 邵士亮
subject.keyword Communication,Industrial robots,Machine design,Multipurpose robots,Robot learning
刊名 International Journal of Advanced Robotic Systems
identifier.issn 1729-8806
发表日期 2014
期刊论文的卷 11
期刊论文的页 1-8
收录类别 SCI,EI
identifier.eiid 20142817934183
identifier.wosid WOS:000338332000001
rights.rank 1
description.abstract 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-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).
语种 英语
subject.wos_headings Science & Technology,Technology
subject.wos_subject Robotics
subject.keywords_plus ADAPTIVE APPROXIMATION APPROACH,POWER-SYSTEMS,ALGORITHMS
subject.wos_subject_extended Robotics
作品演化相关信息 桂建军于2014-08-10 16:46:15导入数据到SIA OpenIR的IR
作品提交的日期 2014-08-10T08:46:15Z
URI标识 http://ir.sia.cn/handle/173321/15124
推荐引用方式 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.,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.
rights.licence 2
内容类型 期刊论文