{"id":"https://openalex.org/W7138427273","doi":"https://doi.org/10.48550/arxiv.2603.14622","title":"Progress-Based Fault Detection and Health-Aware Task Allocation for Heterogeneous Multi-Robot Systems","display_name":"Progress-Based Fault Detection and Health-Aware Task Allocation for Heterogeneous Multi-Robot Systems","publication_year":2026,"publication_date":"2026-03-15","ids":{"openalex":"https://openalex.org/W7138427273","doi":"https://doi.org/10.48550/arxiv.2603.14622"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.14622","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.14622","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.14622","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5129705625","display_name":"Jack Cline","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cline, Jack","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129750170","display_name":"Christian Macaranas","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Macaranas, Christian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5084689056","display_name":"Siavash Farzan","orcid":"https://orcid.org/0000-0001-6415-5560"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Farzan, Siavash","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10933","display_name":"Real-Time Systems Scheduling","score":0.15600000321865082,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10933","display_name":"Real-Time Systems Scheduling","score":0.15600000321865082,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10772","display_name":"Distributed systems and fault tolerance","score":0.12049999833106995,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10639","display_name":"Advanced Software Engineering Methodologies","score":0.08309999853372574,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/fault-detection-and-isolation","display_name":"Fault detection and isolation","score":0.6464999914169312},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.527400016784668},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5264000296592712},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5095999836921692},{"id":"https://openalex.org/keywords/interrupt","display_name":"Interrupt","score":0.42329999804496765},{"id":"https://openalex.org/keywords/scheduling","display_name":"Scheduling (production processes)","score":0.4117000102996826},{"id":"https://openalex.org/keywords/convex-optimization","display_name":"Convex optimization","score":0.40130001306533813},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.3790999948978424},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.36169999837875366}],"concepts":[{"id":"https://openalex.org/C152745839","wikidata":"https://www.wikidata.org/wiki/Q5438153","display_name":"Fault detection and isolation","level":3,"score":0.6464999914169312},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6151999831199646},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.5321000218391418},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.527400016784668},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5264000296592712},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5095999836921692},{"id":"https://openalex.org/C41661131","wikidata":"https://www.wikidata.org/wiki/Q220764","display_name":"Interrupt","level":3,"score":0.42329999804496765},{"id":"https://openalex.org/C206729178","wikidata":"https://www.wikidata.org/wiki/Q2271896","display_name":"Scheduling (production processes)","level":2,"score":0.4117000102996826},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.40130001306533813},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.3790999948978424},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.36169999837875366},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.3538999855518341},{"id":"https://openalex.org/C137270730","wikidata":"https://www.wikidata.org/wiki/Q120811","display_name":"Detection theory","level":3,"score":0.33799999952316284},{"id":"https://openalex.org/C29265498","wikidata":"https://www.wikidata.org/wiki/Q7047719","display_name":"Noise measurement","level":3,"score":0.32820001244544983},{"id":"https://openalex.org/C162262903","wikidata":"https://www.wikidata.org/wiki/Q343527","display_name":"Allocator","level":2,"score":0.3172000050544739},{"id":"https://openalex.org/C41045048","wikidata":"https://www.wikidata.org/wiki/Q202843","display_name":"Linear programming","level":2,"score":0.3160000145435333},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.31459999084472656},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.31279999017715454},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.3109999895095825},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.2953999936580658},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.2906000018119812},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.28780001401901245},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.28600001335144043},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.27880001068115234},{"id":"https://openalex.org/C196083921","wikidata":"https://www.wikidata.org/wiki/Q7915758","display_name":"Variance (accounting)","level":2,"score":0.271699994802475},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.2637999951839447},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.26019999384880066},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2515999972820282}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.14622","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.14622","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.14622","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.14622","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.674983024597168,"id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,21,26,32,40,92,99],"progress-based":[3],"fault":[4],"detection":[5,117],"module":[6],"and":[7,31,47,58,64,88,110,121,130],"its":[8],"integration":[9],"with":[10,25,39,66,127],"dynamic":[11],"task":[12,111,125],"allocation":[13,90],"for":[14],"heterogeneous":[15],"robot":[16],"teams.":[17],"The":[18,81,113],"detector":[19,82],"monitors":[20],"normalized":[22,33],"task-completion":[23],"signal":[24],"lightweight":[27],"Kalman":[28],"filter":[29],"(KF)":[30],"innovation":[34],"squared":[35],"(NIS)":[36],"test,":[37],"augmented":[38],"low-rate":[41],"stall":[42],"gate,":[43,46],"an":[44,67],"uncertainty":[45],"debounce":[48],"logic.":[49],"Health":[50],"estimates":[51],"influence":[52],"the":[53,89,119,131],"allocator":[54],"via":[55],"health-weighted":[56],"costs":[57],"health-dependent":[59],"masks;":[60],"reallocation":[61],"is":[62],"event-triggered":[63],"regularized":[65],"$\\ell_1$":[68],"assignment-change":[69],"penalty":[70],"to":[71],"limit":[72],"reassignment":[73],"churn":[74],"while":[75],"preserving":[76],"feasibility":[77],"through":[78],"slack":[79],"variables.":[80],"has":[83],"constant":[84],"per-robot":[85],"update":[86],"cost,":[87],"remains":[91],"convex":[93],"quadratic":[94],"program":[95],"(QP).":[96],"Experiments":[97],"on":[98],"common":[100],"team-task":[101],"setup":[102],"evaluate":[103],"measurement-noise":[104],"increases,":[105],"velocity-slip":[106],"biases,":[107],"communication":[108,136],"dropouts,":[109],"abandonment.":[112],"results":[114],"show":[115],"timely":[116],"in":[118],"noise":[120],"bias":[122],"cases,":[123],"maintained":[124],"completion":[126],"limited":[128],"reassignment,":[129],"expected":[132],"observability":[133],"delays":[134],"under":[135],"dropouts.":[137]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-03-18T00:00:00"}