This raw data archive includes the data on fault detection in a simulated swarm of 20 e-puck robots. The data was used in the paper Generic, Scalable and Decentralized Fault Detection for Robot Swarms by D. Tarapore et al. (2017).

For all the experiments presented in the paper, the experiment configuration files 'exp_*.argos' are used to run the experiments in the ARGoS multirobot simulator (the simulator sources are located at https://github.com/daneshtarapore/argos3; fault-detection sources are located at https://github.com/daneshtarapore/argos3-foraging). The data files storing the fault-detection results have the prefix 'nohup_', and enumerate 20 independent replicates for each experiment type. Data files are formatted as follows:

Simulation step; Focal robot id; Proprioceptively computed feature vector; Robots in order of their ids (0 to 19), that are members (+1=yes/-1=no) of a coalition to tolerate the focal robot; Robots in order of their ids (0 to 19), that are members (+1=yes/-1=no) of a coalition deeming the focal robot as faulty;


The data are logs are divided according to the following experiments:

A. The fault detection logs are divided by the type of normal robot swarm behavior (SWARM_AGGREGATION, SWARM_DISPERSION, SWARM_FLOCKING, SWARM_HOMING, SWARM_FORAGING), and the injected robot fault type. Faults injected are one of the following (parenthesized as referred to in the paper):
a. FAULT_NONE; here no fault injected in the robots, the experiments are to test tolerance to normal robot swarm behavior.
b. FAULT_PROXIMITYSENSORS_SETMIN (PMIN)
c. FAULT_PROXIMITYSENSORS_SETMAX (PMAX)
d. FAULT_PROXIMITYSENSORS_SETRANDOM (PRND)
e. FAULT_RABSENSOR_SETOFFSET (ROFS)
f. FAULT_ACTUATOR_LWHEEL_SETZERO (LACT)
g. FAULT_ACTUATOR_RWHEEL_SETZERO (RACT)
h. FAULT_ACTUATOR_BWHEELS_SETZERO (BACT)


B. Logs on the tolerance of the swarm to transitions in swarm behaviors are at
a. SWARM_AGGREGATION/SWARM_DISPERSION/'transition-delay'
b. SWARM_DISPERSION/SWARM_FLOCKING/'transition-delay'
c. SWARM_FLOCKING/SWARM_HOMING/'transition-delay'
The 'transition-delay' is one of 0.0, 12.5 and 25.0, and refers to the delay in seconds between robots transitioning between behaviors.


C. Logs on the tolerance of the swarm to perturbations in the foraging resource environment are at ResourcePositionChanged/SWARM_FORAGING


D. Logs on ablation analysis are at the following:
a. PhaseA_DisabledVotingOnFVs
b. PhaseB_DisabledAccumulateDecisionsOfCRM/TimeWindowLength*
The wildcard correspond to one of ‘_1cc’, ‘_40cc’, ‘_90cc’, ‘_140cc’, and ‘_190cc’. The numbers refer to the length of the accumulation time window in control cycles (cc).
c. PhaseC_DisabledSwarmCoalition


For more information, contact d.s.tarapore@soton.ac.uk