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On fault tolerance and scalability of swarm robotic systems

Bjerknes, Jan Dyre; Winfield, Alan F.T.

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Authors

Jan Dyre Bjerknes



Contributors

A Martinoli
Editor

F Mondada
Editor

N Correll
Editor

G Mermoud
Editor

M Egerstedt
Editor

M Hsieh
Editor

L Parker
Editor

K Støy
Editor

Abstract

This paper challenges the common assumption that swarm robotic systems are robust and scalable by default. We present an analysis based on both reliability modelling and experimental trials of a case study swarm performing team work, in which failures are deliberately induced. Our case study has been carefully chosen to represent a swarm task in which the overall desired system behaviour is an emergent property of the interactions between robots, in order that we can assess the fault tolerance of a self-organising system. Our findings show that in the presence of worst-case partially failed robots the overall system reliability quickly falls with increasing swarm size. We conclude that future large scale swarm systems will need a new approach to achieving high levels of fault tolerance. © 2013 Springer-Verlag.

Citation

Bjerknes, J. D., & Winfield, A. F. (2012). On fault tolerance and scalability of swarm robotic systems. https://doi.org/10.1007/978-3-642-32723-0_31

Journal Article Type Conference Paper
Publication Date Dec 13, 2012
Publicly Available Date Mar 29, 2024
Journal Springer Tracts in Advanced Robotics
Print ISSN 1610-7438
Electronic ISSN 1610-742X
Peer Reviewed Peer Reviewed
Volume 83 STAR
Pages 431-444
Series Title Springer Tracts in Advanced Robotics
Book Title Distributed Autonomous Robotic Systems: The 10th International Symposium
ISBN 9783642327223
DOI https://doi.org/10.1007/978-3-642-32723-0_31
Keywords distributed robotics
Public URL https://uwe-repository.worktribe.com/output/936851
Publisher URL http://dx.doi.org/10.1007/978-3-642-32723-0_31

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