Fault Detection and Diagnosis in Multi-Robot Systems: A Survey
Abstract
:1. Introduction
2. A Multi-Robot System in the Context of FDD
2.1. FDD for Single Robotic Systems: A Short Summary
2.2. A Multi-Robotic System
3. Attributes of MRS and Their Impact on FDD
3.1. The Typical Faults and Their Impact on MRS
3.2. The Collaboration Degree of an MRS and Its Impact on FDD
3.3. The Size of an MRS and Its Impact on FDD
3.4. The Impact of a Robotic Swarm on FDD
3.5. Summary of the MRS Attributes and Their Impact on FDD
4. A Survey of FDD for MRS
4.1. Diagnosis of Plan Related Faults
4.2. Diagnosis of Coordination Faults
4.3. Fault Tolerance in Architecture of MRS
4.4. FDD for Swarms
5. Research Opportunities for FDD in MRS
6. Conclusions
Funding
Conflicts of Interest
References
- IFR. Executive Summary World Robotics 2016 Service Robot; The International Federation of Robotics (IFR): Frankfurt, Germany, 2016. [Google Scholar]
- Agmon, N.; Kraus, S.; Kaminka, G.A. Multi-robot perimeter patrol in adversarial settings. In Proceedings of the IEEE International Conference on Robotics and Automation, Pasadena, CA, USA, 19–23 May 2008. [Google Scholar]
- Goodrich, M.A.; Morse, B.S.; Gerhardt, D.; Cooper, J.L.; Quigley, M.; Adams, J.A.; Humphrey, C. Supporting wilderness search and rescue using a camera-equipped mini UAV. J. Field Robot. 2008, 89–110. [Google Scholar] [CrossRef]
- Birk, A.; Carpin, S. Rescue robotics—A crucial milestone on the road to autonomous systems. Adv. Robot. 2006, 20. [Google Scholar] [CrossRef]
- Thrun, S. Robotic mapping: A survey. In Exploring Artificial Intelligence in the New Millennium; Morgan Kaufmann Publishers Inc.: San Francisco, CA, USA, 2003; pp. 1–35. [Google Scholar]
- Steinbauer, G. A Survey about Faults of Robots Used in RoboCup. In RoboCup 2012: Robot Soccer World Cup XVI; Springer: Berlin/Heidelberg, Germany, 2013; pp. 344–355. [Google Scholar]
- Dhillon, B.S. Robot Reliability and Safety; Springer: New York, NY, USA, 1991. [Google Scholar]
- Van Eykeren, L.; Chu, Q. Nonlinear Model-Based Fault Detection for a Hydraulic Actuator. In Proceedings of the AIAA Guidance, Navigation, and Control Conference, Portland, OR, USA, 8–11 August 2011. [Google Scholar]
- Shin, J.-H.; Lee, J.-J. Fault detection and robust fault recovery control for robot manipulators with actuator failures. In Proceedings of the IEEE International Conference on Robotics and Automation, Detroit, MI, USA, 10–15 May 1999. [Google Scholar]
- Pettersson, O. Execution monitoring in robotics: A survey. In Robotics and Autonomous Systems; Elsevier: Amsterdam, The Netherlands, 2005; pp. 73–88. [Google Scholar]
- Duan, Z.; Cai, Z.; Yu, J. Fault diagnosis and fault tolerant control for wheeled mobile robots under unknown environments: A survey. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2005), Barcelona, Spain, 18–22 April 2005. [Google Scholar]
- Khalastchi, E.; Kalech, M. On Fault Detection and Diagnosis for Robotic Systems. ACM Comput. Surv. 2018, 51, 9:1–9:24. [Google Scholar] [CrossRef]
- Brooks, R. A robust layered control system for a mobile robot. IEEE J. Robot. Automat. 1986, 2, 14–23. [Google Scholar] [CrossRef] [Green Version]
- Parker, L.E. ALLIANCE: An architecture for fault tolerant multirobot cooperation. IEEE Trans. Robot. Automat. 1998, 14, 220–240. [Google Scholar] [CrossRef]
- Jennings, N. Controlling cooperative problem solving in industrial multi-agent systems using joint intentions. Artif. Intell. 1995, 75, 195–240. [Google Scholar] [CrossRef] [Green Version]
- Tambe, M. Agent Architectures for Flexible, practical teamwork. In Proceedings of the 14th National Conference on AI, Bratislava, Slovakia, 25–29 August 1997; pp. 22–28. [Google Scholar]
- Kaminka, G.A.; Frenkel, I. Integration of coordination mechanisms in the BITE multi-robot architecture. In Proceedings of the IEEE International Conference on Robotics and Automation, Roma, Italy, 10–14 April 2007. [Google Scholar]
- Kaminka, G.A.; Frenkel, I. Flexible teamwork in behavior-based robots. In Proceedings of the National Conference on Artificial Intelligence, Pittsburgh, PA, USA, 9–13 July 2005. [Google Scholar]
- Parker, L.E. Reliability and Fault Tolerance in Collective Robot Systems. In Handbook on Collective Robotics: Fundamentals and Challenges; Pan Stanford: Singapore, 2012. [Google Scholar]
- Sone, P.; Kaminka, G.A.; Kraus, S.; Rosenschein, J.S. Ad Hoc Autonomous Agent Teams: Collaboration without Pre-Coordination. In Proceedings of the 24th Conference on Artificial Intelligence, Atlanta, GA, USA, 11–15 July 2010. [Google Scholar]
- Kaminka, G.A.; Erusalimchik, D.; Kraus, S. Adaptive multi-robot coordination: A game-theoretic perspective. In Proceedings of the International Conference on Robotics and Automation (ICRA), Anchorage, AK, USA, 3–7 May 2010. [Google Scholar]
- Kalech, M.; Kaminka, G.A. On the design of social diagnosis algorithms for multi-agent teams. In Proceedings of the International Joint Conferences on Artificial Intelligence (IJCAI), Acapulco, Mexico, 9–15 August 2003. [Google Scholar]
- Kalech, M. Diagnosis of Coordination Faults: A Matrix-Based Approach. J. Auton. Ag. Multi-Ag. Syst. 2012, 24, 69–103. [Google Scholar] [CrossRef]
- Kalech, M.; Kaminka, G.A. On the Design of Coordination Diagnosis Algorithms for Teams of Situated Agents. Artif. Intell. J. 2007, 71, 491–513. [Google Scholar] [CrossRef]
- Kalech, M.; Kaminka, G.A. Coordination Diagnostic Algorithms for Teams of Situated Agents: Sclaing-Up. Comp. Intell. 2011, 27, 393–421. [Google Scholar] [CrossRef]
- Gerkey, B.P.; Mataric, M.J. Principled communication for dynamic multi-robot task allocation. In Experimental Robotics VII; Springer: Berlin/Heidelberg, Germany, 2001; pp. 353–362. [Google Scholar]
- Kraus, S. Strategic Negotiation in Multiagent Environments; MIT Press: Cambridge, MA, USA, 2001. [Google Scholar]
- Daigle, M.J.; Koutsoukos, X.D.; Biswas, G. Distributed Diagnosis in Formations of Mobile Robots. IEEE Trans. Robot. 2007, 23, 353–369. [Google Scholar] [CrossRef]
- Kalech, M.; Kaminka, G.A.; Meisels, A.; Elmaliach, Y. Diagnosis of multi-robot coordination failures using distributed csp algorithms. In Proceedings of the National Conference on Artificial Intelligence, Boston, MA, USA, 16–20 July 2006. [Google Scholar]
- Qin, L.; He, X.; Zhou, D. A survey of fault diagnosis for swarm systems. Syst. Sci. Control Eng. 2014, 2, 13–23. [Google Scholar] [CrossRef]
- Rubenstein, M.; Cornejo, A.; Nagpal, R. Programmable self-assembly in a thousand-robot swarm. Science 2014, 345, 795–799. [Google Scholar] [CrossRef] [PubMed]
- Lau, H.K. Error Detection in Swarm Robotics: A Focus on Adaptivity to Dynamic Environments. Ph.D. Thesis, University of York, Helsington, UK, 2012. [Google Scholar]
- Winfield, A.F.; Nembrini, J. Safety in numbers: Fault-tolerance in robot swarms. Int. J. Modell. Identif. Control 2006, 1, 30–37. [Google Scholar] [CrossRef]
- Roos, N.; Witteveen, C. Models and methods for plan diagnosis. Auton. Ag. Multi-Ag. Syst. 2009, 19, 30–52. [Google Scholar] [CrossRef]
- De Jonge, F.; Roos, N.; Witteveen, C. Primary and secondary diagnosis of multi-agent plan execution. Auton. Ag. Multi-Ag. Syst. 2009, 18, 267–294. [Google Scholar] [CrossRef]
- Micalizio, R. A Distributed Control Loop for Autonomous Recovery in a Multi-Agent Plan. In Proceedings of the International Joint Conference on Artificial Intelligence (IJCAI), Pasadena, CA, USA, 11–17 July 2009; pp. 1760–1765. [Google Scholar]
- Micalizio, R.; Torasso, P. Cooperative Monitoring to Diagnose Multiagent Plans. J. Artif. Intell. Res. 2014, 51, 1–70. [Google Scholar] [CrossRef] [Green Version]
- Stancliff, S.B.; Dolan, J.; Trebi-Ollennu, A. Planning to fail - Reliability needs to be considered a priori in multirobot task allocation. In Proceedings of the IEEE International Conference on Systems, Man and Cybernetics (SMC), San Antonio, TX, USA, 11–14 October 2009. [Google Scholar]
- Micalizio, R.; Torasso, P.; Torta, G. On-line monitoring and diagnosis of multi-agent systems: A model based approach. In Proceeding of European Conference on Artificial Intelligence (ECAI), Valencia, Spain, 22–27 August 2004. [Google Scholar]
- Roos, N.; Teije, A.T.; Witteveen, C. A protocol for multi-agent diagnosis with spatially distributed knowledge. In Proceedings of the 2nd International Joint Conference on Autonomous Agents and Multiagent Systems (AAMAS), Melbourne, VIC, Australia, 14–18 July 2003. [Google Scholar]
- Kalech, M.; Kaminka, G.A. Towards model based diagnosis of coordination failures. In Proceedings of the American Association for Artificial Intelligence (AAAI), Pittsburgh, PA, USA, 9–13 July 2005. [Google Scholar]
- Parker, L.E.; Kannan, B. Adaptive causal models for fault diagnosis and recovery in multi-robot teams. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, 9–15 October 2006. [Google Scholar]
- Li, X.; Parker, L.E. Sensor analysis for fault detection in tightly-coupled multi-robot team tasks. In Proceedings of the IEEE International Conference on Robotics and Automation, Roma, Italy, 10–14 April 2007. [Google Scholar]
- Li, X.; Parker, L.E. Design and performance improvements for fault detection in tightly-coupled multi-robot team tasks. In Proceedings of the Southeastcon, Huntsville, AL, USA, 3–6 April 2008. [Google Scholar]
- Daigle, M.; Koutsoukos, X.; Biswas, G. Distributed diagnosis of coupled mobile robots. In Proceedings of the IEEE International Conference on Robotics and Automation, Orlando, FL, USA, 15–19 May 2006. [Google Scholar]
- Dias, M.B.; Zlot, R.; Zinck, M.; Gonzalez, J.P.; Stentz, A. A Versatile Implementation of the TraderBots Approach for Multirobot Coordination. In Proceedings of the 8th Conference on Intelligent Autonomous Systems (IAS), Amsterdam, The Netherlands, 10–12 March 2004. [Google Scholar]
- Dias, M.B.; Zinck, M.; Zlot, R.; Stentz, A. Robust Multirobot Coordination in Dynamic Environments. In Proceedings of the International Conference on Robotics and Automation (ICRA), New Orleans, LA, USA, 16 April–1 May 2004. [Google Scholar]
- Elkady, A.; Sobh, T. Robotics Middleware: A Comprehensive Literature Survey and Attribute-Based Bibliography. J. Robot. 2012. [Google Scholar] [CrossRef]
- Quigley, M.; Conley, K.; Gerkey, B.; Faust, J.; Foote, T.; Leibs, J.; Wheeler, R.; Ng, A.Y. ROS: An open-source Robot Operating System. In Proceedings of the ICRA Workshop on Open Source Software, Kobe, Japan, 17 May 2009. [Google Scholar]
- Zaman, S.; Steinbauer, G.; Maurer, J.; Lepej, P.; Uran, S. An integrated model-based diagnosis and repair architecture for ROS-based robot systems. In Proceedings of the International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, 6–10 May 2013. [Google Scholar]
- Kirchner, D.; Niemczyk, S.; Geihs, K. RoSHA: A Multi-Robot Self-Healing Architecture. In RoboCup 2013: Robot World Cup XVII; Springer: Basel, Switzerland, 2014; pp. 304–315. [Google Scholar]
- Skubch, H. Modelling and Controlling of Behaviour for Autonomous Mobile Robots; Springer: Wiesbaden, Germany, 2012. [Google Scholar]
- Morais, M.G.; Meneguzzi, F.R.; Bordini, R.H.; Amory, A.M. Distributed fault diagnosis for multiple mobile robots using an agent programming language. In Proceedings of the International Conference on Advanced Robotics (ICAR), Istanbul, Turkey, 27–31 July 2015. [Google Scholar]
- Bordini, R.H.; Hubner, J.F.; Wooldridge, M. Programming Multi-Agent Systems in AgentSpeak Using Jason; John Wiley & Sons, Inc.: Hoboken, NJ, USA, 2007. [Google Scholar]
- Christensen, A.L.; Grady, R.O.; Dorigo, M. From fireflies to fault-tolerant swarms of robots. IEEE Trans. Evol. Comput. 2009, 13, 754–766. [Google Scholar] [CrossRef]
- Lau, H.; Bate, I.; Cairns, P.; Timmis, J. Adaptive data-driven error detection in swarm robotics with statistical classifiers. Robot. Autonom. Syst. 2011, 59, 1021–1035. [Google Scholar] [CrossRef]
- Owens, N.D.; Greensted, A.J.; Timmis, J.; Tyrrell, A.M. T Cell Receptor Signalling Inspired Kernel Density Estimation and Anomaly Detection. ICARIS 2009, 122–135. [Google Scholar] [CrossRef]
- Kramer, J.; Scheutz, M. Development environments for autonomous mobile robots: A survey. Auton. Robot. 2006, 22, 101–132. [Google Scholar] [CrossRef]
- Riley, P.; Veloso, M.; Kaminka, G. Towards any-team coaching in adversarial domains. In Proceedings of the 1st International Joint Conference on Autonomous Agents and Multiagent Systems, Bologna, Italy, 15–19 July 2002. [Google Scholar]
- Kuhlmann, G.; Knox, W.B.; Stone, P. Know thine enemy: A champion RoboCup coach agent. In Proceedings of the National Conference on Artificial Intelligence, Boston, MA, USA, 16–20 July 2006. [Google Scholar]
© 2019 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
Share and Cite
Khalastchi, E.; Kalech, M. Fault Detection and Diagnosis in Multi-Robot Systems: A Survey. Sensors 2019, 19, 4019. https://doi.org/10.3390/s19184019
Khalastchi E, Kalech M. Fault Detection and Diagnosis in Multi-Robot Systems: A Survey. Sensors. 2019; 19(18):4019. https://doi.org/10.3390/s19184019
Chicago/Turabian StyleKhalastchi, Eliahu, and Meir Kalech. 2019. "Fault Detection and Diagnosis in Multi-Robot Systems: A Survey" Sensors 19, no. 18: 4019. https://doi.org/10.3390/s19184019
APA StyleKhalastchi, E., & Kalech, M. (2019). Fault Detection and Diagnosis in Multi-Robot Systems: A Survey. Sensors, 19(18), 4019. https://doi.org/10.3390/s19184019