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dc.contributor.authorKhaldi, Belkacem
dc.contributor.authorHarrou, Fouzi
dc.contributor.authorSun, Ying
dc.contributor.authorCherif, Foudil
dc.date.accessioned2017-10-03T12:49:33Z
dc.date.available2017-10-03T12:49:33Z
dc.date.issued2017-07-10
dc.identifier.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.
dc.identifier.doi10.1109/ICoSC.2017.7958703
dc.identifier.urihttp://hdl.handle.net/10754/625670
dc.description.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.
dc.description.sponsorshipThis 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.
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)
dc.relation.urlhttp://ieeexplore.ieee.org/document/7958703/
dc.rights(c) 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.
dc.subjectControl charts
dc.subjectData models
dc.subjectFault detection
dc.subjectMonitoring
dc.subjectPrincipal component analysis
dc.subjectRobot sensing systems
dc.titleA measurement-based fault detection approach applied to monitor robots swarm
dc.typeConference Paper
dc.contributor.departmentApplied Mathematics and Computational Science Program
dc.contributor.departmentComputer, Electrical and Mathematical Sciences and Engineering (CEMSE) Division
dc.contributor.departmentStatistics Program
dc.identifier.journal2017 6th International Conference on Systems and Control (ICSC)
dc.conference.date2017-05-07 to 2017-05-09
dc.conference.name6th International Conference on Systems and Control, ICSC 2017
dc.conference.locationBatna, DZA
dc.eprint.versionPost-print
dc.contributor.institutionLESIA Laboratory, Department of Computer Science, University of Mohamed Khider, B.P. 145, R.P. 07000 Biskra, Algeria
kaust.personHarrou, Fouzi
kaust.personSun, Ying
kaust.grant.numberOSR-2015-CRG4-2582
refterms.dateFOA2018-06-14T03:51:25Z
dc.date.published-online2017-07-10
dc.date.published-print2017-05


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