Summary: J. Marques-Silva and K.A. Sakallah (Eds.): SAT 2007, LNCS 4501, pp. 369 376, 2007.
© Springer-Verlag Berlin Heidelberg 2007
Sensor Deployment for Failure Diagnosis in
Networked Aerial Robots: A Satisfiability-Based Approach
Fadi A. Aloul1
and Nagaragan Kandasamy2
Department of Computer Engineering, American University of Sharjah, UAE
Department of Electrical and Computer Engineering, Drexel University, USA
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.