SVM-based fault type classification method for navigation of formation control systems

Abstract

In this paper, we propose a fault type classification algorithm for a networked multi-robot formation control. Both actuator and sensor faults of a robot are considered as node fault on the networked system. The Support Vector Machine (SVM) based classification scheme is proposed in order to classify the fault type accurately. Basically, the graph-theoretic approach is used for modeling the multi-agent communication and to generate the formation control law. A numerical simulation is presented to confirm the performance of proposed fault type classification method.