NDLI: Distributed diagnosis of coupled mobile robots

Content Provider	IEEE Xplore Digital Library
Author	Daigle, M. Koutsoukos, X. Biswas, G.
Copyright Year	2006
Description	Author affiliation: Dept. of Electr. Eng. & Comput. Sci., Vanderbilt Univ., Nashville, TN (Daigle, M.; Koutsoukos, X.; Biswas, G.)
Abstract	Fault diagnosis of coupled mobile robots requires a large number of measurements to be communicated either between the robots or from the robots to a central diagnoser. As computational complexity increases with the number of measurements, centralized algorithms become inefficient. This paper presents a distributed approach for qualitative fault diagnosis of coupled mobile robots. The approach is based on a bond graph modeling framework which incorporates local and distributed control algorithms, multiple sensor types, and both actuator and sensor faults. Relative measurement orderings are introduced to discriminate faults by exploiting the temporal order of the measurement deviations. This increases the discriminatory power of a set of measurements and results in a more efficient qualitative diagnosis algorithm. Distributed diagnosers are designed and applied to coupled mobile robots. Experimental results for a system consisting of two robots pushing a box demonstrate the improvement in both discriminatory power of the measurements and efficiency of the distributed diagnosis approach
Sponsorship	IEEE Robotics and Autom. Soc
Starting Page	3787
Ending Page	3794
File Size	440074
Page Count	8
File Format	PDF
ISBN	0780395050
ISSN	10504729
DOI	10.1109/ROBOT.2006.1642281
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-05-15
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Robot sensing systems Fault diagnosis Power measurement Robot kinematics Velocity measurement Robotics and automation Bonding Distributed control Actuators
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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