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, International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2019), May, 2019

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Abstract

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.


@conference{Liu-2019-113164,
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 = {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