Skip navigation
User training | Reference and search service

Library catalog

Content aggregators
Please use this identifier to cite or link to this item:

Title: From Fireflies to Fault-Tolerant Swarms of Robots
Authors: Christensen, Anders Lyhne
O'Grady, Rehan
Dorigo, Marco
Keywords: Fault detection
Swarm intelligence
Swarm robotics
Issue Date: Aug-2009
Publisher: IEEE
Abstract: One of the essential benefits of swarm robotic systems is redundancy. In case one robot breaks down, another robot can take steps to repair the failed robot or take over the failed robot's task. Although fault tolerance and robustness to individual failures have often been central arguments in favor of swarm robotic systems, few studies have been dedicated to the subject. In this paper, we take inspiration from the synchronized flashing behavior observed in some species of fireflies. We derive a completely decentralized algorithm to detect non-operational robots in a swarm robotic system. Each robot flashes by lighting up its on-board light-emitting diodes (LEDs), and neighboring robots are driven to flash in synchrony. Since robots that are suffering catastrophic failures do not flash periodically, they can be detected by operational robots. We explore the performance of the proposed algorithm both on a real-world swarm robotic system and in simulation. We show that failed robots are detected correctly and in a timely manner, and we show that a system composed of robots with simulated self-repair capabilities can survive relatively high failure rates.
Description: WOS:000269155700007 (Nº de Acesso Web of Science)
Peer reviewed: Sim
ISSN: 1089-778X
Publisher version: The definitive version is available at IEEE:
Appears in Collections:CTI-RI - Artigos em revistas científicas internacionais com arbitragem científica

Files in This Item:
File Description SizeFormat 
CHRISTENSEN 2009 IEEE.pdf1.19 MBAdobe PDFView/Open    Request a copy

FacebookTwitterDeliciousLinkedInDiggGoogle BookmarksMySpace
Formato BibTex MendeleyEndnote Currículo DeGóis 

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.