The paper presents a Distributed Fault Detection and Isolation strategy for a team of mobile manipulators performing a cooperative mission. The overall system relies on an observer-controller scheme where each robot estimates the global state of the team through a distributed observer; then, the global state estimate is used by each robot to compute the estimated local input so as to achieve a specific global task. The observer-controller scheme also allows to define a set of residual vectors that can be used by the robots to detect and isolate faults affecting any member of the team, even if not in direct communication, and without increasing the computational burden and the information exchange. The approach is validated via numerical simulations with a team of four mobile manipulators performing a transportation mission.
Gillini, G., Lippi, M., Arrichiello, F., Marino, A., Pierri, F. (2019). Distributed Fault Detection and Isolation for Cooperative Mobile Manipulators. In 2019 IEEE International Conference on Systems, Man, and Cybernetics (SMC 2019) (pp.1701-1707). 345 E 47TH ST, NEW YORK, NY 10017 USA : IEEE [10.1109/SMC.2019.8913953].
Distributed Fault Detection and Isolation for Cooperative Mobile Manipulators
Lippi, M;
2019-01-01
Abstract
The paper presents a Distributed Fault Detection and Isolation strategy for a team of mobile manipulators performing a cooperative mission. The overall system relies on an observer-controller scheme where each robot estimates the global state of the team through a distributed observer; then, the global state estimate is used by each robot to compute the estimated local input so as to achieve a specific global task. The observer-controller scheme also allows to define a set of residual vectors that can be used by the robots to detect and isolate faults affecting any member of the team, even if not in direct communication, and without increasing the computational burden and the information exchange. The approach is validated via numerical simulations with a team of four mobile manipulators performing a transportation mission.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
