Multi-robot systems are increasingly used in several industry automation and warehouse management applications, mostly with a centralized hub for coordination. Several decentralized infrastructures have been studied for using multi-robot systems in real mission scenarios like search-and-rescue, area coverage and exploration. However, despite designing rigorous methods for using multi-robot systems in a decentralized setting, long-term field deployments still seem unfeasible. The lack of proper infrastructure for tackling fault-detection is one of the great challenges in this regard. We propose FLAM (https://github.com/MISTLab/FLAM), a fault localization and mapping algorithm that detects faults in a robotic system and uses them to build a map of the environmental hazards, effectively providing risk-awareness to the robotic team.


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    Title :

    FLAM: Fault Localization and Mapping


    Additional title:

    Springer Proceedings in Advanced Robotics


    Contributors:

    Conference:

    International Symposium on Distributed Autonomous Robotic Systems ; 2022 ; Montbéliard, France November 28, 2022 - November 30, 2022



    Publication date :

    2024-02-01


    Size :

    12 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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