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Features of swarm robotics
Fault detection and recovery
Entity projects and simulations

A new approach to the coordination of

multi-robot systems
Inspired from nature (social insect, fishes)
Desired collective behaviour occurs from
interaction between robots and
interaction between robots and
A whole swarm of simple individuals have
ability to solve complex problems

A single robot must be designed with

complicated structure and control
High cost of design, construction and
A small broken part may effect the
whole system



Robots in the swarm should have some

basic functions, such as sensing,
communicating, motioning
The model is divided into three
Information exchange,
Basic behavior
Advanced behavior

The main functions of individuals

involved in this module are limited
sensing and local communication
Information exchange of a robot falls
into two categories
interaction with robot
interaction with environment.

Direct communication

Communication through environment


A robotic swarm needs to maintain

continuous operation even in the event
of failure of one or more individual
Transmission of position data between
robots is the main method of fault
Transmission of data permits members
of a robotic swarm to identify and
subsequently isolate a faulty robot

The controller of robot A receives the

sensors, position coordinates and
motors values from robot B.
The controller of robot A computes the
signal direction and the distance
between A and B based on the
coordination data and the signal
strength from the communication
module in robot A.

Controller of robot A broadcasts its

sensors, position coordinates and
motors values along with the computed
data, combined with robot Bs
identification, to the nearest robot
within the communication range.
When robot B receives these
information ,it starts to diagnose the
values and computes the signal
direction and the distance between A
and B based on the coordination data
and the signal strength from the
communication module in robot B.

Both robots, A and B, have a copy of

each other controller in addition to the
computed values from each other.
If none of these values match, then
both robot A and B broadcast a
suspicious report on each other.
At this stage (suspiciousness), robot A
and B need to follow the same
procedure to check with another robot
(in this case is robot C) if the suspicion
still exists.

The faulty robot will be determined

whenever the healthy robot (i.e. robot
C) confirms whether robot A or B has
the fault.
The faulty robot will be reported to the
entire swarm of robots. This will allow
the swarm to take an action toward
recovering/mitigating the faulty robot.

Eye bot



Player project is a robot server that

provides full access and control of
robotic platform, sensors and actuators
for researchers
Stage is a scalable simulator that is
interfaced to Player and can simulate a
population of 1000 mobile robots in a
2D bitmapped environment in parallel.

Swarm robots is an emerging field

which has taken inspiration from nature
It is gaining popularity for application
such Search and Rescue for areas
which are inaccessible or dangerous to

[1] Ying TAN, Zhong-yang. Research

Advance in Swarm Robotics
[2] Nadia Nedjah, Rafael Mathias de
Mendonca, Luiza de Macedo Mourelle.
PSO-based Distributed Algorithm for
Dynamic Task Allocation in a Robotic
[3] Nor Azlina Ab Aziz, Zuwairie Ibrahim.
Asynchronous Particle Swarm
Optimization for Swarm Robotics

[4] Micael S. Couceiro, Patricia A.

Vargas, Rui P.Rocha, Nuno M.F.Ferreira.
Benchmark of swarm robotics
distributed techniques in a search task
[5] HuiKeng Lau, Iain Bate, Paul Cairns,
Jon Ttimmis. Adaptive data-driven error
detection in swarm robotics with
statistical classifiers
[6] Clare Ddixon, Alan F.T.Winfield,
Michael Fisher, Chengxiu zeng. Towards
temporal verification pf swarm robotic

[7] Masao Kubo, Hiroshi Sato, Tatsuro

Yoshimura, Akihiro Yamaguchi, Ttakahiro
Tanaka. Multiple targets enclosure by
robotic swarm
[8] Wenguo Liu, Aalan F.T.Winfield. Open
hardware e-puck Linux extension board
for exponential swarm robotics research
[9] Alan Oliveira, Nadia Nedjah, Luiza de
Macedo Mourelle. Distributed efficient
localization in swarm robotic systems
using swarm intelligence algorithms

[10] Adil Khadidos, Richard M. Crowder,

Paul H. Chappell. Exogenous Fault
Detection and Recovery for Swarm