Sensor Analysis for Fault Detection in Tightly-Coupled Multi-Robot Team Tasks

Show simple item record Li, Xingyan en Parker, L en
dc.contributor.editor ICRA en 2012-03-29T22:23:09Z en 2007 en
dc.identifier.citation IEEE International Conference on Robotics and Automation, Rome, ITALY, 10 Apr 2007 - 14 Apr 2007. PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10. IEEE. 3269-3276. 01 Jan 2007 en
dc.identifier.isbn 1-4244-0601-3 en
dc.identifier.issn 1050-4729 en
dc.identifier.uri en
dc.description.abstract This paper presents a sensor analysis based fault detection approach (which we call SAFDetection) that is used to monitor tightly-coupled multi-robot team tasks. Our approach aims at detecting both physical and logic faults of a robot system with little prior knowledge on the system. We do not need the motion model or a priori knowledge of the possible fault types of the monitored system. Our approach treats the monitored robot system as a black box, with only sensor data available. Thus, we believe the approach is general, and can be used in a wide variety of robot systems performing many different kinds of tasks. Our approach combines data clustering techniques with the generation of a probabilistic state diagram to model the normal operation of the multi-robot system. We have implemented this approach on a physical robot team. This paper presents the results of these experiments, which show that sensor data analyzed from a training phase of normal operation can be used to generate a model of normal robot team operation. This model can then be used to detect many types of abnormal behavior of the system, based purely on monitoring the sensor data of the system. en
dc.relation.ispartof Proceedings of IEEE International Conference on Robotics and Automation en
dc.rights Items in ResearchSpace are protected by copyright, with all rights reserved, unless otherwise indicated. Previously published items are made available in accordance with the copyright policy of the publisher. en
dc.rights.uri en
dc.title Sensor Analysis for Fault Detection in Tightly-Coupled Multi-Robot Team Tasks en
dc.type Conference Item en
dc.identifier.doi 10.1109/ROBOT.2007.363977 en
pubs.begin-page 3269 en en
pubs.end-page 3276 en
pubs.finish-date 2007-04-14 en
pubs.start-date 2007-04-10 en
dc.rights.accessrights en
pubs.subtype Proceedings en
pubs.elements-id 323965 en
dc.relation.isnodouble 23994 *
dc.relation.isnodouble 21087 *
pubs.record-created-at-source-date 2012-03-16 en

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