Sensor deployment for failure diagnosis in networked aerial robots: A satisfiability-based approach

Abstract

Unmanned aerial vehicles (UAVs) represent an important class of networked robotic applications that must be both highly dependable and autonomous. This paper addresses sensor deployment problems for distributed failure diagnosis in such networks where multiple vehicles must agree on the fault status of another UAV. Sensor placement is formulated using an integer linear programming (ILP) approach and solved using Boolean satisfiability (SAT)-based ILP solvers as well as generic ILP solvers. Our results indicate that the proposed models are tractable for medium-sized UAV networks. © Springer-Verlag Berlin Heidelberg 2007.