A Bayesian network for diagnosis of networked mobile robots

摘要

The network of communicating mobile vehicles is a subclass of Wireless Networked Control Systems (WNCS) characterized by wireless communications and mobile nodes. The integration of the wireless network into control loop, given the stochastic aspects of wireless communication and mobility of its communicating entities, can lead to problems that affect system performances. In other words, the system quality of control QoC depends on the wireless network quality of service QoS state. A diagnosis method is essential to monitor, diagnose and maintain the system in an operational state. The present paper proposes a modular multi-layer Bayesian network model for diagnosis taking into account the network failures. Results regarding the system performance are presented to illustrate the relevance of the developed Bayesian Network BN to decisions making in order to lead the system to its final goal.