Related papers: Global Task-aware Fault Detection, Identification …

This work presents a global-to-local, task-aware fault detection and identification (FDI) framework for multi-spacecraft systems conducting collaborative inspection missions in low Earth orbit. The inspection task is represented by a global…

We present a progress-based fault detection module and its integration with dynamic task allocation for heterogeneous robot teams. The detector monitors a normalized task-completion signal with a lightweight Kalman filter (KF) and a…

Autonomous robots deal with unexpected scenarios in real environments. Given input images, various visual perception tasks can be performed, e.g., semantic segmentation, depth estimation and normal estimation. These different tasks provide…

Autonomous inspection robots for monitoring industrial sites can reduce costs and risks associated with human-led inspection. However, accurate readings can be challenging due to occlusions, limited viewpoints, or unexpected environmental…

The ability to detect faults is an important safety feature for event-based multi-agent systems. In most existing algorithms, each agent tries to detect faults by checking its own behavior. But what if one agent becomes unable to recognize…

Object detectors in real-world applications often fail to detect objects due to varying factors such as weather conditions and noisy input. Therefore, a process that mitigates false detections is crucial for both safety and accuracy. While…

We develop algorithms for collaborative control of AI agents and critics in a multi-actor, multi-critic federated multi-agent system. Each AI agent and critic has access to classical machine learning or generative AI foundation models. The…

Robust robotic task execution hinges on the reliable detection of execution failures in order to trigger safe operation modes, recovery strategies, or task replanning. However, many failure detection methods struggle to provide meaningful…

This paper presents a novel method for fast and robust detection of actuator failures on quadrotors. The proposed algorithm has very little model dependency. A Kalman filter estimator estimates a stochastic effectiveness factor for every…

Recent progress in fault detection and identification increasingly relies on sophisticated techniques for fault detection, applied through either centralized or distributed approaches. Instead of increasing the sophistication of the fault…

In this paper, we propose a new paradigm of fault diagnosis in dynamic systems as an alternative to the well-established observer-based framework. The basic idea behind this work is to (i) formulate fault detection and isolation as…

A natural way for cooperative tasking in multi-agent systems is through a top-down design by decomposing a global task into sub-tasks for each individual agent such that the accomplishments of these sub-tasks will guarantee the achievement…

Building and maintaining a space object catalog is necessary for space situational awareness. To realize this, one great challenge is uncooperative spacecraft maneuver detection because unknown maneuver events can lead to deviated orbital…

This paper proposes a novel framework for active fault diagnosis and parameter estimation in linear systems operating in closed-loop, subject to unknown but bounded faults. The approach integrates set-membership identification with a cost…

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…

Quadrotors have gained popularity over the last decade, aiding humans in complex tasks such as search and rescue, mapping and exploration. Despite their mechanical simplicity and versatility compared to other types of aerial vehicles, they…

For tasks conducted in unknown environments with efficiency requirements, real-time navigation of multi-robot systems remains challenging due to unfamiliarity with surroundings.In this paper, we propose a novel multi-robot collaborative…

Recent years have witnessed impressive robotic manipulation systems driven by advances in imitation learning and generative modeling, such as diffusion- and flow-based approaches. As robot policy performance increases, so does the…

This paper presents resource-aware algorithms for distributed inter-robot loop closure detection for applications such as collaborative simultaneous localization and mapping (CSLAM) and distributed image retrieval. In real-world scenarios,…

It is generally considered that a trustworthy autonomous planetary exploration rover must be able to operate safely and effectively within its environment. Central to trustworthy operation is the ability for the rover to recognise and…