Towards Remote Fault Detection by Analyzing Communication Priorities



Alexander Gräfe, Dominik Baumann, Sebastian Trimpe

  Proposed event-triggered control system with fault detection. Urheberrecht: © Alexander Gräfe


The ability to detect faults is an important safety feature for event-based multi-agent systems. In most existing algorithms, each agent tries to detect faults by checking its own behavior. But what if one agent becomes unable to recognize misbehavior, for example due to failure in its onboard fault detection? To improve resilience and avoid propagation of individual errors to the multi-agent system, agents should check each other remotely for malfunction or misbehavior. In this paper, we build upon a recently proposed predictive triggering architecture that involves communication priorities shared throughout the network to manage limited bandwidth. We propose a fault detection method that uses these priorities to detect errors in other agents. The resulting algorithms is not only able to detect faults, but can also run on a low-power microcontroller in real-time, as we demonstrate in hardware experiments.

Presented at the 2022 IEEE 61st Conference on Decision and Control (CDC).