A distributed robust convergence algorithm for multi-robot systems in the presence of faulty robots

Hyongju Park, Seth Andrew Hutchinson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we propose a distributed control policy to achieve rendezvous by a set of robots even when some robots in the system do not follow the prescribed policy. These nonconforming robots correspond to faults in the multi-robot systems, and our control policy is thus a fault-tolerant policy. We consider the case in which each robot is an autonomous decision maker that is anonymous (i.e., robots are indistinguishable to one another), memoryless (i.e., each robot makes decisions based upon only its current information), and dimensionless (i.e., collision checking is not considered). Each robot has a limited sensing range, and is able to directly estimate the state of only those robots within that sensing range, which induces a network topology for the multi-robot systems. We assume that it is not possible for the fault-free robots to identify the faulty robots (e.g., due to the anonymous property of the robots). Our main result is a practical algorithm that achieves approximate rendezvous in the face of faulty robots under a few assumptions on the network topology. In simulation results, we show that our algorithm performs better in the face of faulty robots than other contemporary convergence algorithms, e.g., the circumcenter law, and local coordinate averaging.

Original languageEnglish (US)
Title of host publicationIROS Hamburg 2015 - Conference Digest
Subtitle of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2980-2985
Number of pages6
ISBN (Electronic)9781479999941
DOIs
StatePublished - Dec 11 2015
EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany
Duration: Sep 28 2015Oct 2 2015

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2015-December
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

OtherIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
CountryGermany
CityHamburg
Period9/28/1510/2/15

Keywords

  • Convergence
  • Fault tolerance
  • Multi-robot systems
  • Robot kinematics
  • Robot sensing systems
  • Robustness

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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