A measurement-based fault detection approach applied to monitor robots swarm

Belkacem Khaldi*, Fouzi Harrou, Ying Sun, Foudil Cherif

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

Swarm robotics requires continuous monitoring to detect abnormal events and to sustain normal operations. Indeed, swarm robotics with one or more faulty robots leads to degradation of performances complying with the target requirements. This paper present an innovative data-driven fault detection method for monitoring robots swarm. The method combines the flexibility of principal component analysis (PCA) models and the greater sensitivity of the exponentially-weighted moving average control chart to incipient changes. We illustrate through simulated data collected from the ARGoS simulator that a significant improvement in fault detection can be obtained by using the proposed methods as compared to the use of the conventional PCA-based methods.

Original languageEnglish (US)
Title of host publication2017 6th International Conference on Systems and Control, ICSC 2017
EditorsDriss Mehdi, Said Drid, Abdelouahab Aitouche
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages21-26
Number of pages6
ISBN (Electronic)9781509039609
DOIs
StatePublished - Jun 23 2017
Event6th International Conference on Systems and Control, ICSC 2017 - Batna, Algeria
Duration: May 7 2017May 9 2017

Publication series

Name2017 6th International Conference on Systems and Control, ICSC 2017

Conference

Conference6th International Conference on Systems and Control, ICSC 2017
Country/TerritoryAlgeria
CityBatna
Period05/7/1705/9/17

Bibliographical note

Publisher Copyright:
© 2017 IEEE.

ASJC Scopus subject areas

  • Control and Optimization
  • Control and Systems Engineering

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