dc.contributor.author |
Li, Xingyan |
en |
dc.contributor.author |
Parker, L |
en |
dc.contributor.editor |
ICRA |
en |
dc.coverage.spatial |
Kobe |
en |
dc.date.accessioned |
2012-03-29T22:41:32Z |
en |
dc.date.issued |
2009 |
en |
dc.identifier.citation |
IEEE International Conference on Robotics and Automation, Kobe, JAPAN, 12 May 2009 - 17 May 2009. ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7. IEEE. 1317-1324. 01 Jan 2009 |
en |
dc.identifier.isbn |
978-1-4244-2788-8 |
en |
dc.identifier.uri |
http://hdl.handle.net/2292/16132 |
en |
dc.description.abstract |
This paper presents a distributed version of our previous work, called SAFDetection, which is a sensor analysisbased fault detection approach that is used to monitor tightlycoupled multi-robot team tasks. While the centralized version of SAFDetection was shown to be successful, a shortcoming of the approach is that it does not scale well to large team sizes. The distributed SAFDetection approach addresses this problem by adapting and distributing the approach across team members. Distributed SAFDetection has the same theoretic foundation as centralized SAFDetection, which maps selected robot sensor data to a robot state by using a clustering algorithm, and builds state transition diagrams to describe the normal behavior of the robot system. However, rather than processing multiple robots’ sensor data centralized on a server, distributed SAFDetection performs feature selection and clustering on individual robots to build the normal behavior model of an individual robot and the entire robot team. Fault detection is also accomplished in a distributed manner. We have implemented this distributed approach on a physical robot team and in simulation. This paper presents the results of these experiments, showing that distributed SAFDetection is an efficient approach to detect both local and interactive faults in tightly-coupled multi-robot team tasks. Compared to the centralized version, this approach provides more scalability and reliability |
en |
dc.publisher |
Institute of Electrical and Electronics Engineers (IEEE) |
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 |
https://researchspace.auckland.ac.nz/docs/uoa-docs/rights.htm |
en |
dc.title |
Distributed Sensor Analysis for Fault Detection in Tightly-Coupled Multi-Robot Team Tasks |
en |
dc.type |
Conference Item |
en |
dc.identifier.doi |
10.1109/ROBOT.2009.5152389 |
en |
dc.rights.holder |
Copyright: Institute of Electrical and Electronics Engineers (IEEE) |
en |
pubs.author-url |
http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5152389 |
en |
pubs.finish-date |
2009-05-17 |
en |
pubs.start-date |
2009-05-12 |
en |
dc.rights.accessrights |
http://purl.org/eprint/accessRights/RestrictedAccess |
en |
pubs.subtype |
Proceedings |
en |
pubs.elements-id |
323947 |
en |
dc.relation.isnodouble |
23994 |
* |
dc.relation.isnodouble |
21083 |
* |
pubs.record-created-at-source-date |
2012-03-16 |
en |