Towards exogenous fault detection in swarm robotic systems

Millard, A. G., Timmis, J. and Winfield, A. F. (2014) Towards exogenous fault detection in swarm robotic systems. In: Natraj, A., Cameron, S., Melhuish, C. and Witkowski, M., eds. (2014) Towards Autonomous Robotic Systems. (8069) Springer Berlin Heidelberg, pp. 429-430. ISBN 978-3-662-43644-8 Available from:

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It has long been assumed that swarm systems are robust, in the sense that the failure of individual robots will have little detrimental effect on a swarm’s overall collective behaviour. However, Bjerknes and Winfield [1] have recently shown that this is not always the case, particularly in the event of partial failures (such as motor failure). The reliability modelling in [1] shows that overall system reliability rapidly decreases with swarm size, therefore this is a problem that cannot simply be solved by adding more robots to the swarm. Instead, future large-scale swarm systems will need an active approach to dealing with failed individuals if they are to achieve a high level of fault tolerance.

Item Type: Book Section
Uncontrolled Keywords: swarm robotics, fault detection
Faculty/Department: Faculty of Environment and Technology
Depositing User: Professor A. Winfield
Date Deposited: 07 Sep 2015 13:02
Last Modified: 12 Apr 2016 12:19


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