Exogenous fault detection in a collective robotic task

摘要

Abstract. In robotics, exogenous fault detection is the process through which one robot detects faults that occur in other, physically separate robots. In this paper, we study exogenous fault detection in a collective leader-follower task for autonomous robots. We record sensory inputs from the robots while they are operating normally and after simulated faults have been injected. Given that faults are simulated, we can correlate the flow of sensory inputs with the fault state of the robots. We use back-propagation neural networks to synthesize fault detection components. We show that the flow of sensory inputs is sufficient information for performing exogenous fault detection, that is, we show that the leader robot is capable of detecting faults in the follower robot. All results are based on experiments with real robots. 1