Immune-Inspired Error Detection for Multiple Faulty Robots in Swarm Robotics

Hui Keng Lau; Iain Bate; Jon Timmis

doi:10.7551/978-0-262-31709-2-ch124

Immune-Inspired Error Detection for Multiple Faulty Robots in Swarm Robotics

Hui Keng Lau, Iain Bate, Jon Timmis

Department of Computer Science

Research output: Chapter in Book/Report/Conference proceeding › Conference Proceeding (ISBN)

1 Citation (Scopus)

19 Downloads (Pure)

Abstract

Error detection and recovery are important issues in swarm robotics research, as they are a means by which fault tolerance can be achieved. Our previous work has looked at error detection for single failures in a swarm robotics scenario with the Receptor Density Algorithm. Three modes of failure to the wheels of individual robots was investigated and comparable performance to other statistical methods was achieved. In this paper, we investigate the potential of extending this approach to a robot swarm with multiple faulty robots. Two experiements have been conducted: A swarm of ten robots with 1 to 8 faulty robots, and a swarm of 10 to 20 robots with varying number of faulty robots. Results from the experiments showed that the proposed approach is able to detect errors in multiple faulty robots. The results also suggest the need to further investigate other aspects of the robot swarm that can potentially affect the performance of detection such as the communication range.

Original language	English
Title of host publication	Proceedings of the 12th European Conference on the Synthesis and Simulation of Living Systems
Subtitle of host publication	Advances in Artificial Life, ECAL 2013
Publisher	MIT Press Journals
Pages	846-853
Number of pages	8
ISBN (Electronic)	9780262317092
DOIs	https://doi.org/10.7551/978-0-262-31709-2-ch124
Publication status	Published - 2013
Event	12th European Conference on the Synthesis and Simulation of Living Systems: Advances in Artificial Life, ECAL 2013 - Sicily, Italy Duration: 02 Sept 2013 → 06 Sept 2013

Publication series

Name	Proceedings of the 12th European Conference on the Synthesis and Simulation of Living Systems: Advances in Artificial Life, ECAL 2013

Conference

Conference	12th European Conference on the Synthesis and Simulation of Living Systems: Advances in Artificial Life, ECAL 2013
Country/Territory	Italy
City	Sicily
Period	02 Sept 2013 → 06 Sept 2013

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10.7551/978-0-262-31709-2-ch124Licence: CC BY

978-0-262-31709-2-ch124Final published version, 468 KBLicence: CC BY

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Lau, H. K., Bate, I., & Timmis, J. (2013). Immune-Inspired Error Detection for Multiple Faulty Robots in Swarm Robotics. In Proceedings of the 12th European Conference on the Synthesis and Simulation of Living Systems: Advances in Artificial Life, ECAL 2013 (pp. 846-853). (Proceedings of the 12th European Conference on the Synthesis and Simulation of Living Systems: Advances in Artificial Life, ECAL 2013). MIT Press Journals. https://doi.org/10.7551/978-0-262-31709-2-ch124

Lau, Hui Keng ; Bate, Iain ; Timmis, Jon. / Immune-Inspired Error Detection for Multiple Faulty Robots in Swarm Robotics. Proceedings of the 12th European Conference on the Synthesis and Simulation of Living Systems: Advances in Artificial Life, ECAL 2013. MIT Press Journals, 2013. pp. 846-853 (Proceedings of the 12th European Conference on the Synthesis and Simulation of Living Systems: Advances in Artificial Life, ECAL 2013).

@inproceedings{e114eb69654c4f3d9fd33fa0b60d867e,

title = "Immune-Inspired Error Detection for Multiple Faulty Robots in Swarm Robotics",

abstract = "Error detection and recovery are important issues in swarm robotics research, as they are a means by which fault tolerance can be achieved. Our previous work has looked at error detection for single failures in a swarm robotics scenario with the Receptor Density Algorithm. Three modes of failure to the wheels of individual robots was investigated and comparable performance to other statistical methods was achieved. In this paper, we investigate the potential of extending this approach to a robot swarm with multiple faulty robots. Two experiements have been conducted: A swarm of ten robots with 1 to 8 faulty robots, and a swarm of 10 to 20 robots with varying number of faulty robots. Results from the experiments showed that the proposed approach is able to detect errors in multiple faulty robots. The results also suggest the need to further investigate other aspects of the robot swarm that can potentially affect the performance of detection such as the communication range.",

author = "Lau, \{Hui Keng\} and Iain Bate and Jon Timmis",

note = "Funding Information: We acknowledge the Swedish Foundation for Strategic Research (SSF) SYNOPSIS Project and Artificial Intelligence Research Unit, Universiti Malaysia Sabah for supporting this work. Publisher Copyright: {\textcopyright} 2013 Proceedings of the 12th European Conference on the Synthesis and Simulation of Living Systems: Advances in Artificial Life, ECAL 2013. All rights reserved.; 12th European Conference on the Synthesis and Simulation of Living Systems: Advances in Artificial Life, ECAL 2013 ; Conference date: 02-09-2013 Through 06-09-2013",

year = "2013",

doi = "10.7551/978-0-262-31709-2-ch124",

language = "English",

series = "Proceedings of the 12th European Conference on the Synthesis and Simulation of Living Systems: Advances in Artificial Life, ECAL 2013",

publisher = "MIT Press Journals",

pages = "846--853",

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address = "United States of America",

}

Lau, HK, Bate, I & Timmis, J 2013, Immune-Inspired Error Detection for Multiple Faulty Robots in Swarm Robotics. in Proceedings of the 12th European Conference on the Synthesis and Simulation of Living Systems: Advances in Artificial Life, ECAL 2013. Proceedings of the 12th European Conference on the Synthesis and Simulation of Living Systems: Advances in Artificial Life, ECAL 2013, MIT Press Journals, pp. 846-853, 12th European Conference on the Synthesis and Simulation of Living Systems: Advances in Artificial Life, ECAL 2013, Sicily, Italy, 02 Sept 2013. https://doi.org/10.7551/978-0-262-31709-2-ch124

Immune-Inspired Error Detection for Multiple Faulty Robots in Swarm Robotics. / Lau, Hui Keng; Bate, Iain; Timmis, Jon.
Proceedings of the 12th European Conference on the Synthesis and Simulation of Living Systems: Advances in Artificial Life, ECAL 2013. MIT Press Journals, 2013. p. 846-853 (Proceedings of the 12th European Conference on the Synthesis and Simulation of Living Systems: Advances in Artificial Life, ECAL 2013).

Research output: Chapter in Book/Report/Conference proceeding › Conference Proceeding (ISBN)

TY - GEN

T1 - Immune-Inspired Error Detection for Multiple Faulty Robots in Swarm Robotics

AU - Lau, Hui Keng

AU - Bate, Iain

AU - Timmis, Jon

N1 - Funding Information: We acknowledge the Swedish Foundation for Strategic Research (SSF) SYNOPSIS Project and Artificial Intelligence Research Unit, Universiti Malaysia Sabah for supporting this work. Publisher Copyright: © 2013 Proceedings of the 12th European Conference on the Synthesis and Simulation of Living Systems: Advances in Artificial Life, ECAL 2013. All rights reserved.

PY - 2013

Y1 - 2013

N2 - Error detection and recovery are important issues in swarm robotics research, as they are a means by which fault tolerance can be achieved. Our previous work has looked at error detection for single failures in a swarm robotics scenario with the Receptor Density Algorithm. Three modes of failure to the wheels of individual robots was investigated and comparable performance to other statistical methods was achieved. In this paper, we investigate the potential of extending this approach to a robot swarm with multiple faulty robots. Two experiements have been conducted: A swarm of ten robots with 1 to 8 faulty robots, and a swarm of 10 to 20 robots with varying number of faulty robots. Results from the experiments showed that the proposed approach is able to detect errors in multiple faulty robots. The results also suggest the need to further investigate other aspects of the robot swarm that can potentially affect the performance of detection such as the communication range.

AB - Error detection and recovery are important issues in swarm robotics research, as they are a means by which fault tolerance can be achieved. Our previous work has looked at error detection for single failures in a swarm robotics scenario with the Receptor Density Algorithm. Three modes of failure to the wheels of individual robots was investigated and comparable performance to other statistical methods was achieved. In this paper, we investigate the potential of extending this approach to a robot swarm with multiple faulty robots. Two experiements have been conducted: A swarm of ten robots with 1 to 8 faulty robots, and a swarm of 10 to 20 robots with varying number of faulty robots. Results from the experiments showed that the proposed approach is able to detect errors in multiple faulty robots. The results also suggest the need to further investigate other aspects of the robot swarm that can potentially affect the performance of detection such as the communication range.

UR - https://www.scopus.com/pages/publications/84908531956

U2 - 10.7551/978-0-262-31709-2-ch124

DO - 10.7551/978-0-262-31709-2-ch124

M3 - Conference Proceeding (ISBN)

AN - SCOPUS:84908531956

T3 - Proceedings of the 12th European Conference on the Synthesis and Simulation of Living Systems: Advances in Artificial Life, ECAL 2013

SP - 846

EP - 853

BT - Proceedings of the 12th European Conference on the Synthesis and Simulation of Living Systems

PB - MIT Press Journals

T2 - 12th European Conference on the Synthesis and Simulation of Living Systems: Advances in Artificial Life, ECAL 2013

Y2 - 2 September 2013 through 6 September 2013

ER -

Lau HK, Bate I, Timmis J. Immune-Inspired Error Detection for Multiple Faulty Robots in Swarm Robotics. In Proceedings of the 12th European Conference on the Synthesis and Simulation of Living Systems: Advances in Artificial Life, ECAL 2013. MIT Press Journals. 2013. p. 846-853. (Proceedings of the 12th European Conference on the Synthesis and Simulation of Living Systems: Advances in Artificial Life, ECAL 2013). doi: 10.7551/978-0-262-31709-2-ch124

Immune-Inspired Error Detection for Multiple Faulty Robots in Swarm Robotics

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