Sensor Deployment for Failure Diagnosis in Networked Aerial Robots: A Satisfiability-Based Approach

  • Fadi A. Aloul
  • Nagaragan Kandasamy
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4501)


Unmanned aerial vehicles (UAVs) represent an important class of net worked robotic applications that must be both highly dependable and autonomous. This paper addresses sensor deployment problems for distributed failure diagnosis in such networks where multiple vehicles must agree on the fault status of another UAV. Sensor placement is formulated using an integer linear programming (ILP) approach and solved using Boolean satisfiability (SAT)-based ILP solvers as well as generic ILP solvers. Our results indicate that the proposed models are tractable for medium-sized UAV networks.


0-1 ILP SAT UAV networks fault diagnosis distributed systems 


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Copyright information

© Springer Berlin Heidelberg 2007

Authors and Affiliations

  • Fadi A. Aloul
    • 1
  • Nagaragan Kandasamy
    • 2
  1. 1.Department of Computer Engineering, American University of Sharjah, UAE 
  2. 2.Department of Electrical and Computer Engineering, Drexel UniversityUSA

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