Sensor deployment for failure diagnosis in networked aerial robots: a satisfiability-based approach

Authors:
Fadi A. Aloul;Nagaragan Kandasamy
Affiliations:
Department of Computer Engineering, American University of Sharjah, UAE;Department of Electrical and Computer Engineering, Drexel University
Venue:
SAT'07 Proceedings of the 10th international conference on Theory and applications of satisfiability testing
Year:
2007

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Abstract

Unmanned aerial vehicles (UAVs) represent an important class of networked robotic applications that must be both highly dependable and autonomous. This paper addresses sensor deployment problems for distributed failure diagnosis in such networks where multiple vehicles must agree on the fault status of another UAV. Sensor placement is formulated using an integer linear programming (ILP) approach and solved using Boolean satisfiability (SAT)-based ILP solvers as well as generic ILP solvers. Our results indicate that the proposed models are tractable for medium-sized UAV networks.