Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Fault Tolerant Control for Networked Mobile Robots   Teams of networked autonomous agents have been used in a number of
applications, such as mobile sensor networks and intelligent transportation
systems. However, in such systems, the effect of faults and errors in one or
more of the sub-systems can easily spread throughout the network, quickly
degrading the performance of the entire system. In consensus-driven dynamics,
the effects of faults are particularly relevant because of the presence of
unconstrained rigid modes in the transfer function of the system. Here, we
propose a two-stage technique for the identification and accommodation of a
biased-measurements agent, in a network of mobile robots with time invariant
interaction topology. We assume these interactions to only take place in the
form of relative position measurements. A fault identification filter deployed
on a single observer agent is used to estimate a single fault occurring
anywhere in the network. Once the fault is detected, an optimal leader-based
accommodation strategy is initiated. Results are presented by means of
numerical simulations and robot experiments.

17
The categories of this paper are: q-fin
12
The categories of this paper are: nucl-th
22
The categories of this paper are: chao-dyn
24
The categories of this paper are: dg-ga
3
The categories of this paper are: physics
14
The categories of this paper are: math-ph
36
The categories of this paper are: cmp-lg
31
The categories of this paper are: ao-sci
18
The categories of this paper are: econ
11
The categories of this paper are: hep-lat
25
The categories of this paper are: patt-sol
23
The categories of this paper are: solv-int
7
The categories of this paper are: hep-th
30
The categories of this paper are: q-alg
6
The categories of this paper are: astro-ph
32
The categories of this paper are: atom-ph