Distributed sensor analysis for fault detection in tightly-coupled multi-robot team tasks

— This paper presents a distributed version of our previous work, called SAFDetection, which is a sensor analysisbased fault detection approach that is used to monitor tightlycoupled multi-robot team tasks. While the centralized version of SAFDetection was shown to be successful, a shortcoming of the approach is that it does not scale well to large team sizes. The distributed SAFDetection approach addresses this problem by adapting and distributing the approach across team members. Distributed SAFDetection has the same theoretic foundation as centralized SAFDetection, which maps selected robot sensor data to a robot state by using a clustering algorithm, and builds state transition diagrams to describe the normal behavior of the robot system. However, rather than processing multiple robots’ sensor data centralized on a server, distributed SAFDetection performs feature selection and clustering on individual robots to build the normal behavior model of an individual robot and the ent...

• Type: Conference
• Year: 2009
• Where: ICRA
• Authors: Xingyan Li, Lynne E. Parker
• Keywords: Centralized Version, ICRA 2009, Multi-robot Team Tasks, Robot, Robotics