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Adaptive online fault diagnosis in autonomous robot swarms

Adaptive online fault diagnosis in autonomous robot swarms
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 behaviours. 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.
O'Keeffe, James
51c12624-5488-4535-9dcf-a57c5175659e
Tarapore, Danesh
fe8ec8ae-1fad-4726-abef-84b538542ee4
Millard, Alan G.
58064324-77bf-4ec7-ba6d-7c2763e02954
Timmis, Jonathan
b68f4b8e-6192-4caf-858d-8185f6e7c66f
O'Keeffe, James
51c12624-5488-4535-9dcf-a57c5175659e
Tarapore, Danesh
fe8ec8ae-1fad-4726-abef-84b538542ee4
Millard, Alan G.
58064324-77bf-4ec7-ba6d-7c2763e02954
Timmis, Jonathan
b68f4b8e-6192-4caf-858d-8185f6e7c66f

O'Keeffe, James, Tarapore, Danesh, Millard, Alan G. and Timmis, Jonathan (2018) Adaptive online fault diagnosis in autonomous robot swarms. Frontiers in Robotics and AI, 5. (doi:10.3389/frobt.2018.00131).

Record type: Article

Abstract

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 behaviours. 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.

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Accepted/In Press date: 8 November 2018
e-pub ahead of print date: 30 November 2018

Identifiers

Local EPrints ID: 426143
URI: https://eprints.soton.ac.uk/id/eprint/426143
PURE UUID: 11e439f9-f76f-44be-9e60-f0b3fe4d975c
ORCID for Danesh Tarapore: ORCID iD orcid.org/0000-0002-3226-6861

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Date deposited: 15 Nov 2018 17:30
Last modified: 20 Jul 2019 00:27

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