Distributed fault detection and isolation for flocking in a multi-robot system with imperfect communication
文献类型：期刊论文
| 作者 | Shao SL(邵士亮) ; Wang T(王挺); Yao C(姚辰); Li XF(李小凡); Hai, Zhao
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| 刊名 | International Journal of Advanced Robotic Systems
 |
| 出版日期 | 2014 |
| 卷号 | 11 |
| 关键词 | Communication Industrial robots Machine design Multipurpose robots Robot learning |
| ISSN号 | 1729-8806 |
| 产权排序 | 1 |
| 通讯作者 | 邵士亮 |
| 中文摘要 | 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). |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Robotics |
| 研究领域[WOS] | Robotics |
| 关键词[WOS] | ADAPTIVE APPROXIMATION APPROACH ; POWER-SYSTEMS ; ALGORITHMS |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000338332000001 |
| 源URL | [http://ir.sia.cn/handle/173321/15124]  |
| 推荐引用方式 GB/T 7714 | Shao SL,Wang T,Yao C,et al. Distributed fault detection and isolation for flocking in a multi-robot system with imperfect communication[J]. International Journal of Advanced Robotic Systems,2014,11. |
| APA | Shao SL,Wang T,Yao C,Li XF,&Hai, Zhao.(2014).Distributed fault detection and isolation for flocking in a multi-robot system with imperfect communication.International Journal of Advanced Robotic Systems,11. |
| MLA | Shao SL,et al."Distributed fault detection and isolation for flocking in a multi-robot system with imperfect communication".International Journal of Advanced Robotic Systems 11(2014). |
入库方式： OAI收割
来源：沈阳自动化研究所
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