Persistent multi-robot coverage is an essential requirement in many applications, which can be achieved by decomposing a region into cells or polygons and assigning robots to cover these cells. During the operation, agents can fail, resulting in partial coverage. The faulty agent must be discovered quickly and its area must be redistributed between the rest of the working agents. However, in real world applications agents have limited communication range and hence detecting the presence of a faulty agent and redistributing the area is difficult. In this paper, we develop a distributed fault detection and area balancing algorithm using periodic communication under limited communication constraints. The approach takes agent motion uncertainty into account and develops a conflict free schedule for communication. Analysis and simulation results are presented to validate the fault tolerant capabilities of our approach.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Distributed Fault Tolerant and Balanced Multi-Robot Area Partitioning for Coverage Applications


    Beteiligte:
    Jain, Rishav (Autor:in) / Tiwari, Rohan (Autor:in) / Jain, Puneet (Autor:in) / Sujit, P. B. (Autor:in)


    Erscheinungsdatum :

    2018-06-01


    Format / Umfang :

    1149456 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Distributed multi-robot patrol: a scalable and fault-tolerant framework

    Portugal, David / Rocha, Rui P. | BASE | 2013

    Freier Zugriff

    Multi-robot repeated area coverage

    Fazli, P. | British Library Online Contents | 2013


    Multi-robot formations for area coverage in space applications

    Leitner, Jürgen | BASE | 2009

    Freier Zugriff

    On multi-robot area and boundary coverage

    Fazli, Pooyan | BASE | 2013

    Freier Zugriff

    Fault-Tolerant Local-Area Network

    Morales, Sergio / Friedman, Gary L. | NTRS | 1988