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FLAM: Fault Localization and Mapping

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Distributed Autonomous Robotic Systems (DARS 2022)

Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 28))

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Abstract

Multi-robot systems are increasingly used in several industry automation and warehouse management applications, mostly with a centralized hub for coordination. Several decentralized infrastructures have been studied for using multi-robot systems in real mission scenarios like search-and-rescue, area coverage and exploration. However, despite designing rigorous methods for using multi-robot systems in a decentralized setting, long-term field deployments still seem unfeasible. The lack of proper infrastructure for tackling fault-detection is one of the great challenges in this regard. We propose FLAM (https://github.com/MISTLab/FLAM), a fault localization and mapping algorithm that detects faults in a robotic system and uses them to build a map of the environmental hazards, effectively providing risk-awareness to the robotic team.

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Author information

Authors and Affiliations

  1. Polytechnique Montréal, Montreal, Canada

    Guillaume Ricard, David Vielfaure & Giovanni Beltrame

Authors
  1. Guillaume Ricard
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  2. David Vielfaure
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  3. Giovanni Beltrame
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Corresponding author

Correspondence to Guillaume Ricard .

Editor information

Editors and Affiliations

  1. University of Franche-Comté, Montbéliard, France

    Julien Bourgeois

  2. École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland

    Jamie Paik

  3. CNRS, University of Franche-Comté, Besancon, France

    Benoît Piranda

  4. Harvard University, Boston, MA, USA

    Justin Werfel

  5. University of Bristol, Bristol, UK

    Sabine Hauert

  6. Boston University, Boston, MA, USA

    Alyssa Pierson

  7. University of Lübeck, Lubeck, Germany

    Heiko Hamann

  8. The Chinese University of Hong Kong, Shenzhen, Shenzhen, China

    Tin Lun Lam

  9. Kyoto University, Kyoto, Japan

    Fumitoshi Matsuno

  10. University of Illinois System, Urbana, IL, USA

    Negar Mehr

  11. University of Franche-Comté, Montbéliard, France

    Abdallah Makhoul

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© 2024 The Author(s), under exclusive license to Springer Nature Switzerland AG

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Ricard, G., Vielfaure, D., Beltrame, G. (2024). FLAM: Fault Localization and Mapping. In: Bourgeois, J., et al. Distributed Autonomous Robotic Systems. DARS 2022. Springer Proceedings in Advanced Robotics, vol 28. Springer, Cham. https://doi.org/10.1007/978-3-031-51497-5_5

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