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Towards exogenous fault detection in swarm robotic systems

Millard, Alan G.; Timmis, Jon; Winfield, Alan F.T.


Alan G. Millard

Jon Timmis


A Natraj

S Cameron

C Melhuish

M Witkowski


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.


Millard, A. G., Timmis, J., & Winfield, A. F. (2014). Towards exogenous fault detection in swarm robotic systems. In C. Melhuish, M. Witkowski, A. Natraj, & S. Cameron (Eds.), Towards Autonomous Robotic Systems (429-430). Springer Berlin Heidelberg

Publication Date Jun 1, 2014
Peer Reviewed Peer Reviewed
Volume 8069
Pages 429-430
Series Title Lecture Notes in Artificial Intelligence
Book Title Towards Autonomous Robotic Systems
ISBN 978-3-662-43644-8
Keywords swarm robotics, fault detection
Public URL
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