Related papers: Fault Tolerant Control for Networked Mobile Robots

As robots are increasingly deployed to collaborate on tasks within shared workspaces and resources, the failure of an individual robot can critically affect the group's performance. This issue is particularly challenging when robots lack…

In this work, we consider the consensus problem in which legitimate agents share their values over an undirected communication network in the presence of malicious or faulty agents. Different from the previous works, we characterize the…

This paper considers the problem of simultaneous sensor fault detection, isolation, and networked estimation of linear full-rank dynamical systems. The proposed networked estimation is a variant of single time-scale protocol and is based on…

In this paper, we examine the different measures of Fault Tolerance in a Distributed Simulated Annealing process. Optimization by Simulated Annealing on a distributed system is prone to various sources of failure. We analyse simulated…

Turn-taking behaviour is simulated in a coupled agents system. Each agent is modelled as a mobile robot with two wheels. A recurrent neural network is used to produce the motor outputs and to hold the internal dynamics. Agents are developed…

An Adaptive Fault-tolerant Controller procedure for a class of the affine nonlinear system is developed in this paper. This methodology hides both the faults and external disturbances. Compare to the procedure that require separate fault…

This paper addresses a formation tracking problem for nonlinear multi-agent systems with time-varying actuator faults, in which only a subset of agents has access to the leader's information over the directed leader-follower network with a…

With the increasing complexity of computing systems, complete hardware reliability can no longer be guaranteed. We need, however, to ensure overall system reliability. One of the most important features of artificial neural networks is…

This work presents a fault-tolerant control scheme for sensory faults in robotic manipulators based on active inference. In the majority of existing schemes, a binary decision of whether a sensor is healthy (functional) or faulty is made…

Background: Large-scale biological jobs on high-performance computing systems require manual intervention if one or more computing cores on which they execute fail. This places not only a cost on the maintenance of the job, but also a cost…

This paper proposes a Bayesian modeling approach to address the problem of online fault-tolerant dynamic event region detection in wireless sensor networks. In our model every network node is associated with a virtual community and a trust…

A commonly used model for fault-tolerant computation is that of cellular automata. The essential difficulty of fault-tolerant computation is present in the special case of simply remembering a bit in the presence of faults, and that is the…

We present a novel fault localisation methodology for linear time-invariant electrical networks with infinite-dimensional edge dynamics and uncertain fault dynamics. The theory accommodates instability and also bounded propagation delays in…

Single fault sequential change point problems have become important in modeling for various phenomena in large distributed systems, such as sensor networks. But such systems in many situations present multiple interacting faults. For…

In this paper, we study asynchronous consensus problems of continuous-time multi-agent systems with discontinuous information transmission. The proposed consensus control strategy is implemented only based on the state information at some…

Consistent localization of cooperative multi-robot systems during navigation presents substantial challenges. This paper proposes a fault-tolerant, multi-modal localization framework for multi-robot systems on matrix Lie groups. We…

A crucial challenge in decentralized systems is state estimation in the presence of unknown inputs, particularly within heterogeneous sensor networks with dynamic topologies. While numerous consensus algorithms have been introduced, they…

In this work, we study the consensus problem in which legitimate agents send their values over an undirected communication network in the presence of an unknown subset of malicious or faulty agents. In contrast to former works, we…

Fault tolerance is achieved through multiply redundant hardware systems in large civil aircraft. This means of achieving fault tolerance is infeasible for small compact unmanned aerial vehicles. In this paper we apply a fault tolerant…

This paper investigates the effect of constant time delay in weakly connected multi-agent systems modeled by double integrator dynamics. A novel analytical approach is proposed to establish an upper bound on the permissible time delay that…