Response Surface Methodology: Process and Product in Optimization Using Designed Experiments
Response Surface Methodology: Process and Product in Optimization Using Designed Experiments
Self-Repairing Mechanical Systems
Autonomous Robots
Distributed Control for 3D Metamorphosis
Autonomous Robots
IEEE Intelligent Systems
Towards a Team of Robots with Repair Capabilities: A Visual Docking System
ISER '00 Experimental Robotics VII
Rao-Blackwellised Particle Filtering for Dynamic Bayesian Networks
UAI '00 Proceedings of the 16th Conference on Uncertainty in Artificial Intelligence
A protocol for multi-agent diagnosis with spatially distributed knowledge
AAMAS '03 Proceedings of the second international joint conference on Autonomous agents and multiagent systems
Diagnosis of multi-robot coordination failures using distributed CSP algorithms
AAAI'06 Proceedings of the 21st national conference on Artificial intelligence - Volume 1
Combining stochastic and greedy search in hybrid estimation
AAAI'05 Proceedings of the 20th national conference on Artificial intelligence - Volume 1
Diagnosis of continuous valued systems in transient operating regions
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
A fault-tolerant approach to robot teams
Robotics and Autonomous Systems
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Research in man-made systems capable of self-diagnosis and self-repair is becoming increasingly relevant in a range of scenarios in which in situ repair/diagnosis by a human operator is infeasible within an appropriate time frame. In this paper, we present an approach to the multi-robot team diagnosis problem that utilizes gradient-based training of multivariate Gaussian distributions. We then evaluate this approach using a testbed involving modular mobile robots, each assembled from four electromechanically separable modules. The diagnosis algorithm is trained on data obtained from two sources: (1) a computer model of the system dynamics and (2) experimental runs of the physical prototypes. Tests were then performed in which a fault was introduced in one robot in the testbed and the diagnostic algorithm was queried. The results show that the state predicted by the diagnostic algorithm performed well in identifying the fault state in the case when the model was trained using the experimental data. Limited convergence was also demonstrated using training data from an imperfect dynamic model and low data sampling frequencies.