A decentralized fault detection and isolation strategy for networked robots. Arrichiello, F., Marino, A., & Pierri, F. In 2013 16th International Conference on Advanced Robotics (ICAR), pages 1–6, 2013. IEEE.
bibtex   
@inproceedings{arrichiello2013decentralized,
  title={A decentralized fault detection and isolation strategy for networked robots},
  author={Arrichiello, Filippo and Marino, Alessandro and Pierri, Francesco},
  booktitle={2013 16th International Conference on Advanced Robotics (ICAR)},
  pages={1--6},
  year={2013},
  organization={IEEE}
}

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