Adaptive Online Fault Diagnosis in Autonomous Robot Swarms
Previous work has shown that robot swarms are not always tolerant to the failure of individual robots, particularly those that have only partially failed and continue to contribute to collective behaviors. A case has been made for an active approach to fault tolerance in swarm robotic systems, where...
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2018-11-01
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| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/article/10.3389/frobt.2018.00131/full |
| _version_ | 1818544109959249920 |
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| author | James O'Keeffe Danesh Tarapore Alan G. Millard Jon Timmis |
| author_facet | James O'Keeffe Danesh Tarapore Alan G. Millard Jon Timmis |
| author_sort | James O'Keeffe |
| collection | DOAJ |
| description | Previous work has shown that robot swarms are not always tolerant to the failure of individual robots, particularly those that have only partially failed and continue to contribute to collective behaviors. A case has been made for an active approach to fault tolerance in swarm robotic systems, whereby the swarm can identify and resolve faults that occur during operation. Existing approaches to active fault tolerance in swarms have so far omitted fault diagnosis, however we propose that diagnosis is a feature of active fault tolerance that is necessary if swarms are to obtain long-term autonomy. This paper presents a novel method for fault diagnosis that attempts to imitate some of the observed functions of natural immune system. The results of our simulated experiments show that our system is flexible, scalable, and improves swarm tolerance to various electro-mechanical faults in the cases examined. |
| first_indexed | 2024-12-11T22:44:09Z |
| format | Article |
| id | doaj.art-6de0a4dea7ad41b691f3bdc8f3977224 |
| institution | Directory Open Access Journal |
| issn | 2296-9144 |
| language | English |
| last_indexed | 2024-12-11T22:44:09Z |
| publishDate | 2018-11-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Robotics and AI |
| spelling | doaj.art-6de0a4dea7ad41b691f3bdc8f39772242022-12-22T00:47:41ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442018-11-01510.3389/frobt.2018.00131416644Adaptive Online Fault Diagnosis in Autonomous Robot SwarmsJames O'Keeffe0Danesh Tarapore1Alan G. Millard2Jon Timmis3Department of Electronic Engineering, University of York, York, United KingdomSchool of Electronics and Computer Science, University of Southampton, Southampton, United KingdomDepartment of Electronic Engineering, University of York, York, United KingdomDepartment of Electronic Engineering, University of York, York, United KingdomPrevious work has shown that robot swarms are not always tolerant to the failure of individual robots, particularly those that have only partially failed and continue to contribute to collective behaviors. A case has been made for an active approach to fault tolerance in swarm robotic systems, whereby the swarm can identify and resolve faults that occur during operation. Existing approaches to active fault tolerance in swarms have so far omitted fault diagnosis, however we propose that diagnosis is a feature of active fault tolerance that is necessary if swarms are to obtain long-term autonomy. This paper presents a novel method for fault diagnosis that attempts to imitate some of the observed functions of natural immune system. The results of our simulated experiments show that our system is flexible, scalable, and improves swarm tolerance to various electro-mechanical faults in the cases examined.https://www.frontiersin.org/article/10.3389/frobt.2018.00131/fullswarm roboticsfault diagnosisadaptiveautonomousunsupervised learning |
| spellingShingle | James O'Keeffe Danesh Tarapore Alan G. Millard Jon Timmis Adaptive Online Fault Diagnosis in Autonomous Robot Swarms Frontiers in Robotics and AI swarm robotics fault diagnosis adaptive autonomous unsupervised learning |
| title | Adaptive Online Fault Diagnosis in Autonomous Robot Swarms |
| title_full | Adaptive Online Fault Diagnosis in Autonomous Robot Swarms |
| title_fullStr | Adaptive Online Fault Diagnosis in Autonomous Robot Swarms |
| title_full_unstemmed | Adaptive Online Fault Diagnosis in Autonomous Robot Swarms |
| title_short | Adaptive Online Fault Diagnosis in Autonomous Robot Swarms |
| title_sort | adaptive online fault diagnosis in autonomous robot swarms |
| topic | swarm robotics fault diagnosis adaptive autonomous unsupervised learning |
| url | https://www.frontiersin.org/article/10.3389/frobt.2018.00131/full |
| work_keys_str_mv | AT jamesokeeffe adaptiveonlinefaultdiagnosisinautonomousrobotswarms AT daneshtarapore adaptiveonlinefaultdiagnosisinautonomousrobotswarms AT alangmillard adaptiveonlinefaultdiagnosisinautonomousrobotswarms AT jontimmis adaptiveonlinefaultdiagnosisinautonomousrobotswarms |