On fault tolerance and scalability of swarm robotic systems

Bjerknes, J. D. and Winfield, A. F. (2013) On fault tolerance and scalability of swarm robotic systems. In: Martinoli, A., Mondada, F., Correll, N., Mermoud, G., Egerstedt, M., Hsieh, M., Parker, L. and Støy, K., eds. (2013) Distributed Autonomous Robotic Systems: The 10th International Symposium. (83) Springer, pp. 431-444. ISBN 9783642327223 Available from: http://eprints.uwe.ac.uk/20213

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Publisher's URL: http://dx.doi.org/10.1007/978-3-642-32723-0_31


This paper challenges the common assumption that swarm robotic systems are robust and scalable by default. We present an analysis based on both reliability modelling and experimental trials of a case study swarm performing team work, in which failures are deliberately induced. Our case study has been carefully chosen to represent a swarm task in which the overall desired system behaviour is an emergent property of the interactions between robots, in order that we can assess the fault tolerance of a self-organising system. Our findings show that in the presence of worst-case partially failed robots the overall system reliability quickly falls with increasing swarm size. We conclude that future large scale swarm systems will need a new approach to achieving high levels of fault tolerance.

Item Type:Book Section
Uncontrolled Keywords:distributed robotics
Faculty/Department:Faculty of Environment and Technology > Department of Engineering Design and Mathematics
ID Code:20213
Deposited By: Professor A. Winfield
Deposited On:18 Jun 2013 11:27
Last Modified:21 Feb 2017 01:09

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