A measurement-based fault detection approach applied to monitor robots swarm
KAUST DepartmentComputer, Electrical and Mathematical Sciences and Engineering (CEMSE) Division
Applied Mathematics and Computational Science Program
KAUST Grant NumberOSR-2015-CRG4-2582
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AbstractSwarm robotics requires continuous monitoring to detect abnormal events and to sustain normal operations. Indeed, swarm robotics with one or more faulty robots leads to degradation of performances complying with the target requirements. This paper present an innovative data-driven fault detection method for monitoring robots swarm. The method combines the flexibility of principal component analysis (PCA) models and the greater sensitivity of the exponentially-weighted moving average control chart to incipient changes. We illustrate through simulated data collected from the ARGoS simulator that a significant improvement in fault detection can be obtained by using the proposed methods as compared to the use of the conventional PCA-based methods.
CitationKhaldi B, Harrou F, Sun Y, Cherif F (2017) A measurement-based fault detection approach applied to monitor robots swarm. 2017 6th International Conference on Systems and Control (ICSC). Available: http://dx.doi.org/10.1109/ICoSC.2017.7958703.
SponsorsThis publication is based upon work supported by the King Abdullah University of Science and Technology (KAUST) Office of Sponsored Research (OSR) under Award No: OSR-2015-CRG4-2582. The authors (Belkacem Khaldi and Foudil Cherif) would like to thank the LESIA Laboratory, Department of Computer Science, University of Mohamed Khider,Biskra, Algeria for the continued support during the research.
Conference/Event name6th International Conference on Systems and Control, ICSC 2017