Synchronization and fault detection in autonomous robots

Abstract

In this study, we show a group of robots can synchronize based on firefly-inspired flashing behavior and how dead robots can be detected by other robots. The algorithm is completely distributed. Each robot flashes by lighting up its on-board LEDs and neighboring robots are driven to flash in synchrony. Since robots that are suffering catastrophic failures do not flash periodically, they can be detected by operational robots. On a real multi-robot system of 10 autonomous robots, we show how the group can correctly detect multiple faults, and that when given (simulated) repair capabilities, the group can survive a relatively high rate of failure.