@conference{
	11580_55180,
	author = {Marino, A. and Pierri, F. and Chiacchio, P. and Chiaverini, Stefano},
	title = {Distributed fault detection and accommodation for a class of discrete-time linear systems},
	year = {2015},
	booktitle = {Proceedings of the 2015 IEEE International Conference on Information and Automation},
	abstract = {A decentralized fault diagnosis and accommodation scheme in discrete time for teams of cooperative mobile robots is presented. Each vehicle estimates, via a local observer, the overall state of the team, which is used to compute its local control input and a set of residual vectors. Each residual is sensible to a fault occurring on a single teammate, even not in direct communication, and the fault occurrence on a vehicle is declared if the corresponding residual exceeds a suitable adaptive threshold. Then, a recovery strategy, based on the estimate of the maximum detection time, is designed in order to remove the faulty teammates from the team and rearrange the mission. Numerical simulations, involving 5 vehicles moving in formation in a 3D environment, validate the proposed approach.},
	doi = {10.1109/ICInfA.2015.7279334},
	isbn = {978-1-4673-9104-7},	
	isbn = {978-1-4673-9104-7},	
	pages = {469--474}
}

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