TY - JOUR
T1 - Fault tolerant area coverage control for multiagent systems
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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U2 - 10.1051/matecconf/201818805010
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 -