Advertisement

Towards Exogenous Fault Detection in Swarm Robotic Systems

  • Alan G. Millard
  • Jon Timmis
  • Alan F. T. Winfield
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8069)

Abstract

It has long been assumed that swarm systems are robust, in the sense that the failure of individual robots will have little detrimental effect on a swarm’s overall collective behaviour. However, Bjerknes and Winfield [1] have recently shown that this is not always the case, particularly in the event of partial failures (such as motor failure). The reliability modelling in [1] shows that overall system reliability rapidly decreases with swarm size, therefore this is a problem that cannot simply be solved by adding more robots to the swarm. Instead, future large-scale swarm systems will need an active approach to dealing with failed individuals if they are to achieve a high level of fault tolerance.

References

  1. 1.
    Bjerknes, J.D., Winfield, A.F.T.: On fault tolerance and scalability of swarm robotic systems. In: Martinoli, A., Mondada, F., Correll, N., Mermoud, G., Egerstedt, M., Hsieh, M.A., Parker, L.E., Støy, K. (eds.) Distributed Autonomous Robotic Systems. STAR, vol. 83, pp. 431–444. Springer, Heidelberg (2013) CrossRefGoogle Scholar
  2. 2.
    Christensen, A.L., O’Grady, R., Dorigo, M.: From fireflies to fault tolerant swarms of robots. IEEE Trans. Evol. Comput. 13, 754–766 (2009)CrossRefGoogle Scholar
  3. 3.
    Winfield, A.F.T., Nembrini, J.: Safety in numbers: fault-tolerance in robot swarms. Int. J. Model. Ident. Control 1, 30–37 (2006)CrossRefGoogle Scholar
  4. 4.
    Mondada, F., Bonani, M., Raemy, X., Pugh, J., Cianci, C., Klaptocz, A., Magnenat, S., Zufferey, J.C., Floreano, D., Martinoli, A.: The e-puck, a robot designed for education in engineering. In: 9th Conference on Autonomous Robot Systems and Competitions, vol. 1, pp. 59–65 (2009)Google Scholar
  5. 5.
    Liu, W., Winfield, A.F.T.: Open-hardware e-puck Linux extension board for experimental swarm robotics research. Microprocess. Microsyst. 35, 60–67 (2011)CrossRefGoogle Scholar
  6. 6.
    Gerkey, B.P., Vaughan, R.T., Howard, A.: The player/stage project: tools for multi-robot and distributed sensor systems. In: Proceedings of the 11th International Conference on Advanced Robotics (ICAR), pp. 317–323 (2003)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2014

Authors and Affiliations

  • Alan G. Millard
    • 1
  • Jon Timmis
    • 2
  • Alan F. T. Winfield
    • 3
  1. 1.Department of Computer ScienceUniversity of YorkYorkUK
  2. 2.Department of ElectronicsUniversity of YorkYorkUK
  3. 3.Bristol Robotics LaboratoryUniversity of the West of EnglandBristolUK

Personalised recommendations