| Issue |
MATEC Web Conf.
Volume 188, 2018
5th International Conference of Engineering Against Failure (ICEAF-V 2018)
|
|
|---|---|---|
| Article Number | 05010 | |
| Number of page(s) | 8 | |
| Section | Fault Detection and Reliability in Cyber-Physical and Industrial Systems | |
| DOI | https://doi.org/10.1051/matecconf/201818805010 | |
| Published online | 07 August 2018 | |
Fault tolerant area coverage control for multiagent systems
New York University Abu Dhabi, Electrical and Computer Engineering,
P.O.129188,
Abu Dhabi,
United Arab Emirates
1 Corresponding author: sotiris.papatheodorou@nyu.edu
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.
© The Authors, published by EDP Sciences, 2018
This is an Open Access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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