Synchronization of pulse-coupled biological oscillators
SIAM Journal on Applied Mathematics
Swarm intelligence: from natural to artificial systems
Swarm intelligence: from natural to artificial systems
Cooperative Mobile Robotics: Antecedents and Directions
Autonomous Robots
Time Synchronization for Wireless Sensor Networks
IPDPS '01 Proceedings of the 15th International Parallel & Distributed Processing Symposium
Using Situated Communication in Distributed Autonomous Mobile Robotics
SCAI '01 Proceedings of the Seventh Scandinavian Conference on Artificial Intelligence
Bayesian Fault Detection and Diagnosis in Dynamic Systems
Proceedings of the Seventeenth National Conference on Artificial Intelligence and Twelfth Conference on Innovative Applications of Artificial Intelligence
Robot Error Detection Using an Artificial Immune System
EH '03 Proceedings of the 2003 NASA/DoD Conference on Evolvable Hardware
Swarm-Bot: A New Distributed Robotic Concept
Autonomous Robots
Evolving Self-Organizing Behaviors for a Swarm-Bot
Autonomous Robots
Decentralized synchronization protocols with nearest neighbor communication
SenSys '04 Proceedings of the 2nd international conference on Embedded networked sensor systems
Firefly-inspired sensor network synchronicity with realistic radio effects
Proceedings of the 3rd international conference on Embedded networked sensor systems
Self-organisation and communication in groups of simulated and physical robots
Biological Cybernetics
Distributed Systems: Principles and Paradigms (2nd Edition)
Distributed Systems: Principles and Paradigms (2nd Edition)
Firefly-inspired Heartbeat Synchronization in Overlay Networks
SASO '07 Proceedings of the First International Conference on Self-Adaptive and Self-Organizing Systems
Teamwork in self-organized robot colonies
IEEE Transactions on Evolutionary Computation
Self-assembly on demand in a group of physical autonomous mobile robots navigating rough terrain
ECAL'05 Proceedings of the 8th European conference on Advances in Artificial Life
Towards dependable swarms and a new discipline of swarm engineering
SAB'04 Proceedings of the 2004 international conference on Swarm Robotics
Autonomous Self-Assembly in Swarm-Bots
IEEE Transactions on Robotics
Particle filtering based likelihood ratio approach to faultdiagnosis in nonlinear stochastic systems
IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews
IEEE Transactions on Neural Networks
Abnormality detection in multiagent systems inspired by the adaptive immune system
Proceedings of the 2013 international conference on Autonomous agents and multi-agent systems
Towards a robust feedback system for coordinating a hierarchical multi-robot system
Robotics and Autonomous Systems
Fault-Tolerant Formation Driving Mechanism Designed for Heterogeneous MAVs-UGVs Groups
Journal of Intelligent and Robotic Systems
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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 nonoperational 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.