A framework for a fault tolerant multi-robot system

Fault tolerance is increasingly important for multirobot systems, especially those operating in an unknown and hazardous environments. This paper presents a framework for a fault tolerant multi-robot system that works cooperatively to achieve a common goal. The proposed methodology comprises four key phases: grouping of robots, task execution, fault detection, and fault tolerance. Initially robots are grouped based on their capabilities. Next, the process of task execution takes place during which components of the robots are monitored in real time to detect faults. Upon detection of partial or full failure of a robot, the other team members respond robustly, reliably, flexibly, and coherently while communicating with each other to regroup and perform remaining tasks in order to achieve the common goal. The proposed methodology is implemented in a group of simulated heterogeneous mobile robots that transport multiple objects cooperatively to a goal location in an unknown and unstructured environment.