Anticipating Degradation: A Predictive Approach to Fault Tolerance in Robot Swarms
Fuente:
arXiv
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| Formato: | Preprint |
| Publicado: |
2025
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| _version_ | 1866916998902972416 |
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| author | O'Keeffe, James |
| author_facet | O'Keeffe, James |
| contents | An active approach to fault tolerance is essential for robot swarms to achieve long-term autonomy. Previous efforts have focused on responding to spontaneous electro-mechanical faults and failures. However, many faults occur gradually over time. Waiting until such faults have manifested as failures before addressing them is both inefficient and unsustainable in a variety of scenarios. This work argues that the principles of predictive maintenance, in which potential faults are resolved before they hinder the operation of the swarm, offer a promising means of achieving long-term fault tolerance. This is a novel approach to swarm fault tolerance, which is shown to give a comparable or improved performance when tested against a reactive approach in almost all cases tested. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2504_01594 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Anticipating Degradation: A Predictive Approach to Fault Tolerance in Robot Swarms O'Keeffe, James Robotics Multiagent Systems An active approach to fault tolerance is essential for robot swarms to achieve long-term autonomy. Previous efforts have focused on responding to spontaneous electro-mechanical faults and failures. However, many faults occur gradually over time. Waiting until such faults have manifested as failures before addressing them is both inefficient and unsustainable in a variety of scenarios. This work argues that the principles of predictive maintenance, in which potential faults are resolved before they hinder the operation of the swarm, offer a promising means of achieving long-term fault tolerance. This is a novel approach to swarm fault tolerance, which is shown to give a comparable or improved performance when tested against a reactive approach in almost all cases tested. |
| title | Anticipating Degradation: A Predictive Approach to Fault Tolerance in Robot Swarms |
| topic | Robotics Multiagent Systems |
| url | https://arxiv.org/abs/2504.01594 |