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Trust-Aware Behavior Reflection for Robot Swarm Self-Healing

Rui Liu, Fan Jia, Wenhao Luo, Meghan Chandarana, Changjoo Nam, Michael Lewis and Katia Sycara
Conference Paper, Proceedings of International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2019), May, 2019

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The deployment of robot swarms is influenced by real-world factors, such as motor issues, sensor failure, and wind disturbances. These factors cause the appearance of faulty robots. In a decentralized swarm, sharing incorrect information from faulty robots will lead to undesired swarm behaviors, such as swarm disconnection and incorrect heading directions. We envision a system where a human operator is exerting supervisory control over a remote swarm by indicating changes in trust to the swarm via a “trust-signal”. By correcting faulty behaviors, trust between the human and the swarm is maintained to facilitate human-swarm cooperation. In this research, a trust-aware behavior reflection method – Trust-R – is designed based on a weighted mean subsequence reduced algorithm (WMSR). By using Trust-R, detected faulty behaviors are automatically corrected by the swarm in a decentralized fashion by referring to the motion status of their trusted neighbors and isolating failed robots from the others. Based on real-world scenarios, three types of robot faults — degraded performance caused by motor wear, abnormal motion caused by system uncertainty and motion deviation caused by an external disturbance such as wind — were simulated to test the effectiveness of Trust-R. Results show that Trust-R is effective in correcting swarm behaviors for swarm self-healing.

author = {Rui Liu and Fan Jia and Wenhao Luo and Meghan Chandarana and Changjoo Nam and Michael Lewis and Katia Sycara},
title = {Trust-Aware Behavior Reflection for Robot Swarm Self-Healing},
booktitle = {Proceedings of International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2019)},
year = {2019},
month = {May},
keywords = {Trust-R; WMSR; Trust; Behavior Reflection; Swarm Self-Healing},
} 2019-05-28T16:21:16-04:00