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

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).