Fault tolerant area coverage control for multiagent systems

Sotiris Papatheodorou; Anthony Tzes

doi:10.1051/matecconf/201818805010

Fault tolerant area coverage control for multiagent systems

Sotiris Papatheodorou, Anthony Tzes

Research output: Contribution to journal › Conference article › peer-review

Abstract

The fault tolerance characteristics of a distributed multi-agent coverage algorithm are examined. A team of sensor-equipped mobile agents is tasked with covering a planar region of interest. A distributed, gradient-based control scheme is utilized for this purpose. The agents are assumed to consist of three subsystems, each one of which may fail. The subsystems under examination are the actuation, sensing and the communication subsystem. Partial and catastrophic faults are examined. Several simulation studies are conducted highlighting the robustness of the distributed nature of the control scheme to these classes of faults, even when several of them happen at the same time.

Original language	English (US)
Article number	05010
Journal	MATEC Web of Conferences
Volume	188
DOIs	https://doi.org/10.1051/matecconf/201818805010
State	Published - Aug 7 2018
Event	5th International Conference of Engineering Against Failure, ICEAF-V 2018 - Chios, Greece Duration: Jun 20 2018 → Jun 22 2018

ASJC Scopus subject areas

Chemistry(all)
Materials Science(all)
Engineering(all)

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title = "Fault tolerant area coverage control for multiagent systems",

abstract = "The fault tolerance characteristics of a distributed multi-agent coverage algorithm are examined. A team of sensor-equipped mobile agents is tasked with covering a planar region of interest. A distributed, gradient-based control scheme is utilized for this purpose. The agents are assumed to consist of three subsystems, each one of which may fail. The subsystems under examination are the actuation, sensing and the communication subsystem. Partial and catastrophic faults are examined. Several simulation studies are conducted highlighting the robustness of the distributed nature of the control scheme to these classes of faults, even when several of them happen at the same time.",

author = "Sotiris Papatheodorou and Anthony Tzes",

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AU - Papatheodorou, Sotiris

AU - Tzes, Anthony

N1 - Publisher Copyright: © The Authors, published by EDP Sciences, 2018.

PY - 2018/8/7

Y1 - 2018/8/7

N2 - The fault tolerance characteristics of a distributed multi-agent coverage algorithm are examined. A team of sensor-equipped mobile agents is tasked with covering a planar region of interest. A distributed, gradient-based control scheme is utilized for this purpose. The agents are assumed to consist of three subsystems, each one of which may fail. The subsystems under examination are the actuation, sensing and the communication subsystem. Partial and catastrophic faults are examined. Several simulation studies are conducted highlighting the robustness of the distributed nature of the control scheme to these classes of faults, even when several of them happen at the same time.

AB - The fault tolerance characteristics of a distributed multi-agent coverage algorithm are examined. A team of sensor-equipped mobile agents is tasked with covering a planar region of interest. A distributed, gradient-based control scheme is utilized for this purpose. The agents are assumed to consist of three subsystems, each one of which may fail. The subsystems under examination are the actuation, sensing and the communication subsystem. Partial and catastrophic faults are examined. Several simulation studies are conducted highlighting the robustness of the distributed nature of the control scheme to these classes of faults, even when several of them happen at the same time.

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DO - 10.1051/matecconf/201818805010

M3 - Conference article

AN - SCOPUS:85053223373

VL - 188

JO - MATEC Web of Conferences

JF - MATEC Web of Conferences

SN - 2261-236X

M1 - 05010

T2 - 5th International Conference of Engineering Against Failure, ICEAF-V 2018

Y2 - 20 June 2018 through 22 June 2018

ER -

Fault tolerant area coverage control for multiagent systems

Abstract

ASJC Scopus subject areas

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