{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,31]],"date-time":"2026-01-31T00:59:02Z","timestamp":1769821142448,"version":"3.49.0"},"reference-count":55,"publisher":"Springer Science and Business Media LLC","issue":"4","license":[{"start":{"date-parts":[[2021,7,20]],"date-time":"2021-07-20T00:00:00Z","timestamp":1626739200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2021,7,20]],"date-time":"2021-07-20T00:00:00Z","timestamp":1626739200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"funder":[{"name":"Productive4.0","award":["737459"],"award-info":[{"award-number":["737459"]}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2021,8]]},"DOI":"10.1007\/s10846-021-01446-7","type":"journal-article","created":{"date-parts":[[2021,7,20]],"date-time":"2021-07-20T11:03:00Z","timestamp":1626778980000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["Health State Monitoring of 4-mecanum Wheeled Mobile Robot Actuators and its Impact on the Robot Behavior Analysis"],"prefix":"10.1007","volume":"102","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7772-5999","authenticated-orcid":false,"given":"Samia","family":"Mellah","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Guillaume","family":"Graton","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"El Mostafa","family":"El Adel","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mustapha","family":"Ouladsine","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Alain","family":"Planchais","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2021,7,20]]},"reference":[{"key":"1446_CR1","first-page":"2","volume":"6","author":"K Kanjanawanishkul","year":"2016","unstructured":"Kanjanawanishkul, K.: Omnidirectional wheeled mobile robots: wheel types and practical applications. Int. J. Adv. Mechatronic Syst. 6, 2 (2016)","journal-title":"Int. J. Adv. Mechatronic Syst."},{"key":"1446_CR2","doi-asserted-by":"crossref","unstructured":"Isermann, R., Ball\u00e9, P.: Trends in the application of model based fault detection and diagnosis of technical processes. In: IFAC Proceedings Volumes. 06, vol. 29, pp 6325\u20136336 (1996)","DOI":"10.1016\/S1474-6670(17)58696-6"},{"key":"1446_CR3","doi-asserted-by":"crossref","unstructured":"Karras, G.C., Fourlas, G.K.: Model predictive fault tolerant control for omni-directional mobile robots . J. Intell. Robot. Syst. (2019)","DOI":"10.1007\/s10846-019-01029-7"},{"key":"1446_CR4","doi-asserted-by":"crossref","unstructured":"Venkatasubramanian, V., Rengaswamy, R., Kewen, Y., Kavuri, N.S.: A review of process fault detection and diagnosis: Part i: Quantitative model-based methods. Comput. Chem. Eng. (2003)","DOI":"10.1016\/S0098-1354(02)00161-8"},{"key":"1446_CR5","doi-asserted-by":"crossref","unstructured":"Venkatasubramanian, V., Rengaswamy, R., Kavuri, N.S.: A review of process fault detection and diagnosis part ii: Qualitative models and search strategies 03 (2003)","DOI":"10.1016\/S0098-1354(02)00161-8"},{"key":"1446_CR6","doi-asserted-by":"crossref","unstructured":"Venkatasubramanian, V., Rengaswamy, R., Kavuri, S.N., Kewen, Y.: A review of process fault detection and diagnosis: Part iii: Process history based methods. Comput. Chem. Eng. (2003)","DOI":"10.1016\/S0098-1354(02)00161-8"},{"issue":"6","key":"1446_CR7","doi-asserted-by":"publisher","first-page":"3757","DOI":"10.1109\/TIE.2015.2417501","volume":"62","author":"Z Gao","year":"2015","unstructured":"Gao, Z., Cecati, C., Ding, S.X.: A survey of fault diagnosis and fault-tolerant techniques\u2014part i: Fault diagnosis with model-based and signal-based approaches. IEEE Trans. Ind. Electron. 62(6), 3757\u20133767 (2015)","journal-title":"IEEE Trans. Ind. Electron."},{"key":"1446_CR8","unstructured":"Zixing, C, Zhuohua, D, Jinxia, Y: Fault diagnosis and fault tolerant control for wheeled mobile robots under unknown environments: A survey. In: Proceedings of the 2005 IEEE International Conference on Robotics and Automation, pp 3428\u20133433. IEEE (2005)"},{"key":"1446_CR9","unstructured":"Pham, M., Zhang, J.B., Zhang, D.H., Luo, M., Wang, D., Zhao, Y.Z., et al.: Model-based fault diagnosis\/prognosis for wheeled mobile robots: a review. In: 31st Annual Conference of IEEE Industrial Electronics Society IECON (2005)"},{"key":"1446_CR10","doi-asserted-by":"publisher","first-page":"50","DOI":"10.1016\/j.ifacol.2016.07.613","volume":"49","author":"A Kuestenmacher","year":"2016","unstructured":"Kuestenmacher, A., Pl\u00f6ger, P.: Model-based fault diagnosis techniques for mobile robots. IFAC-PapersOnLine 49, 50\u201356 (2016)","journal-title":"IFAC-PapersOnLine"},{"issue":"1","key":"1446_CR11","doi-asserted-by":"publisher","first-page":"43","DOI":"10.1080\/08839510490250097","volume":"18","author":"JL Fern\u00e1ndez","year":"2004","unstructured":"Fern\u00e1ndez, J.L., Sanz, R., Di\u00e9guez, A.R.: Probabilistic models for monitoring and fault diagnosis: application and evaluation in a mobile robot. Appl. Artif. Intell. 18(1), 43\u201367 (2004)","journal-title":"Appl. Artif. Intell."},{"key":"1446_CR12","unstructured":"Carlson, J., Murphy, R.R.: An investigation of mml methods for fault diagnosis in mobile robots. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) (2004)"},{"key":"1446_CR13","doi-asserted-by":"crossref","unstructured":"Skoundrianos, E.N., Tzafestas, S.G.: Finding fault - fault diagnosis on the wheels of a mobile robot using local model neural networks. IEEE Robot. Autom. Mag. (2004)","DOI":"10.23919\/ECC.2003.7086535"},{"key":"1446_CR14","unstructured":"Cai, Z., Duan, Z., Cai, J., Zou, X., Yu, J.: A multiple particle filters method for fault diagnosis of mobile robot dead-reckoning system. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems (2005)"},{"key":"1446_CR15","doi-asserted-by":"crossref","unstructured":"Duan, Z., Cai, Z.: Fault diagnosis for wheeled mobile robots based on adaptive particle filter. In: 2006 International Conference on Machine Learning and Cybernetics, pp 370\u2013374 (2006)","DOI":"10.1109\/ICMLC.2006.259041"},{"key":"1446_CR16","doi-asserted-by":"crossref","unstructured":"Brandstotter, G., Steinbauer, M., Hofbaur, M.W., Wotawa, F.: Model-based fault diagnosis and reconfiguration of robot drives. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) (2007)","DOI":"10.1109\/IROS.2007.4399092"},{"key":"1446_CR17","doi-asserted-by":"crossref","unstructured":"Steinbauer, G., M\u00f6rth, M., Wotawa, F.: Real-time diagnosis and repair of faults of robot control software. In: RoboCup 2005: Robot Soccer World Cup IX. Springer, Berlin (2006)","DOI":"10.1007\/11780519_2"},{"key":"1446_CR18","unstructured":"Li, Z.: Fault diagnosis and fault tolerant control of mobile robot based on neural networks. In: International Conference on Machine Learning and Cybernetics (2009)"},{"issue":"3","key":"1446_CR19","doi-asserted-by":"publisher","first-page":"637","DOI":"10.1007\/s12555-013-0012-1","volume":"12","author":"N Hoang","year":"2014","unstructured":"Hoang, N., Kang, H.: A model-based fault diagnosis scheme for wheeled mobile robots. Int. J. Control Autom. Syst. 12(3), 637\u2013651 (2014)","journal-title":"Int. J. Control Autom. Syst."},{"key":"1446_CR20","doi-asserted-by":"crossref","unstructured":"Baghernezhad, F., Khorasani, K.: Computationally intelligent strategies for robust fault detection, isolation, and identification of mobile robots. Neurocomput. 171(C) (2016)","DOI":"10.1016\/j.neucom.2015.06.050"},{"key":"1446_CR21","unstructured":"Roumeliotis, S.I., Sukhatme, G.S., Bekey, G.A.: Sensor fault detection and identification in a mobile robot. In: Proceedings. IEEE\/RSJ ICIRS. Innovations in Theory, Practice and Applications (1998)"},{"key":"1446_CR22","unstructured":"Goel, S.I., Roumeliotis, P., Dedeoglu, G., Sukhatme, G.S.: Fault detection and identification in a mobile robot using multiple model estimation and neural network. In: IEEE International Conference on Robotics and Automation (ICRA) (2000)"},{"key":"1446_CR23","first-page":"372","volume":"164","author":"L Yutian","year":"2011","unstructured":"Yutian, L., Jungan, C.: Integrated fault diagnosis method of mobile robot. Commun. Comput. Inf. Sci. 164, 372\u2013379 01 (2011)","journal-title":"Commun. Comput. Inf. Sci."},{"key":"1446_CR24","doi-asserted-by":"crossref","unstructured":"Fourlas, G.K., Karras, G.C., Kyriakopoulos, K.J.: Sensors fault diagnosis in autonomous mobile robots using observer based technique. In: ICRA IEEE International Conference on Robotics and Automation, Singapour, pp. 49\u201354 (2015)","DOI":"10.1109\/ICCAR.2015.7166000"},{"key":"1446_CR25","doi-asserted-by":"crossref","unstructured":"Duan, Z., Cai, Z.: Particle filters based fault diagnosis for internal sensors of mobile robots. In: 2009 International Conference on Measuring Technology and Mechatronics Automation, vol. 1, pp 47\u201350 (2009)","DOI":"10.1109\/ICMTMA.2009.607"},{"key":"1446_CR26","unstructured":"Hashimoto, T., Nakagami, M., Kawashima, H., Oba, F.: Sensor fault detection and identification in dead-reckoning system of mobile robot: interacting multiple model approach. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) (2001)"},{"key":"1446_CR27","unstructured":"Hashimoto, H., Kawashima, M., Oba, F.: A multi-model based fault detection and diagnosis of internal sensors for mobile robot. In: Proceedings 2003 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) (2003)"},{"key":"1446_CR28","doi-asserted-by":"crossref","unstructured":"Cai, Z., Duan, Z., Yu, J.: Adaptive particle filter for unknown fault detection of wheeled mobile robots. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) (2006)","DOI":"10.1109\/IROS.2006.281895"},{"key":"1446_CR29","doi-asserted-by":"crossref","unstructured":"Zaj\u0119c, M., Uci\u0144ski, D., Stetter, R.: Mobile robot diagnosis with bayesian filters. In: Mechatronic Systems and Materials III, volume 147 of Solid State Phenomena, pp. 518\u2013523 Trans Tech Publications Ltd, 4 (2009)","DOI":"10.4028\/www.scientific.net\/SSP.147-149.518"},{"key":"1446_CR30","unstructured":"Lin, J.L., Jing, J.P.: Diagnosis of simultaneous faults for mobile robots based on fuzzy clustering method. Int. Conf. Mach. Learn. Cybern. (2010)"},{"key":"1446_CR31","doi-asserted-by":"crossref","unstructured":"Fourlas, G.K., Karkanis, S., Karras, G.C., Kyriakopoulos, K.J.: Model based actuator fault diagnosis for a mobile robot. In: IEEE International Conference on Industrial Technology (ICIT) (2014)","DOI":"10.1109\/ICIT.2014.6894976"},{"key":"1446_CR32","unstructured":"Stavrou, D., Eliades, D.G., Panayiotou, C.G., Polycarpou, M.M.: Fault detection for service mobile robots using model-based method. Autonomous Robots SP 1\u201320 (2016)"},{"key":"1446_CR33","doi-asserted-by":"crossref","unstructured":"Yazdjerdi, P., Meskin, N.: Actuator fault detection and isolation of differential drive mobile robots using multiple model algorithm. In: 4th International Conference on Control, Decision and Information Technologies (CoDIT), pp 0439\u20130443. IEEE (2017)","DOI":"10.1109\/CoDIT.2017.8102631"},{"key":"1446_CR34","unstructured":"Kira, Z.: Modeling cross-sensory and sensorimotor correlations to detect and localize faults in mobile robots. In: EEE\/RSJ international conference on intelligent robots and systems (IROS) (2007)"},{"key":"1446_CR35","doi-asserted-by":"crossref","unstructured":"Mellah, S., Graton, G., El Adel, M., Ouladsine, M., Planchais, A.: On fault detection and isolation applied on unicycle mobile robot sensors and actuators. In: 7th International Conference on Systems and Control (ICSC), pp 148\u2013153. IEEE (2018)","DOI":"10.1109\/ICoSC.2018.8587845"},{"key":"1446_CR36","doi-asserted-by":"crossref","unstructured":"Mellah, S., Graton, G., El Adel, M., Ouladsine, M., Planchais, A.: Mobile robot additive fault diagnosis and accommodation. In: 8th International Conference on Systems and Control (ICSC), pp 241\u2013246. IEEE (2019)","DOI":"10.1109\/ICSC47195.2019.8950504"},{"key":"1446_CR37","unstructured":"Abci, B., El Najjar, M.B., Cocquempot, V., Dherbomez, G.: An informational approach for sensor and actuator fault diagnosis for autonomous mobile robots. J. Intell. Robot. Syst. 99, 1\u201320 (2019)"},{"key":"1446_CR38","doi-asserted-by":"crossref","unstructured":"Mellah, S., Graton, G., El Adel, M., Ouladsine, M., Planchais, A.: Detection & isolation of sensor and actuator additive faults in a 4-mecanum wheeled mobile robot (4-mwmr). In: International Conference on Control, Automation and Diagnosis (ICCAD) (2019)","DOI":"10.1109\/ICCAD46983.2019.9037885"},{"key":"1446_CR39","doi-asserted-by":"crossref","unstructured":"Mellah, S., Graton, G., El Adel, M., Ouladsine, M., Planchais, A.: 4-mecanum wheeled mobile robot actuator fault detection & isolation using unknown input observer-based approach. In: European Control Conference (ECC), pp 148\u2013153. IEEE (2020)","DOI":"10.23919\/ECC51009.2020.9143984"},{"key":"1446_CR40","doi-asserted-by":"crossref","unstructured":"Vlantis, P., Bechlioulis, C.P., Karras, G., Fourlas, G., Kyriakopoulos, K.J.: Fault tolerant control for omni-directional mobile platforms with 4 mecanum wheels. In: IEEE ICRA, IEEE International Conference on Robotics and Automation, pp. 2395\u20132400 (2016)","DOI":"10.1109\/ICRA.2016.7487389"},{"issue":"4","key":"1446_CR41","doi-asserted-by":"publisher","first-page":"353","DOI":"10.14429\/dsj.69.13607","volume":"69","author":"S Mishra","year":"2019","unstructured":"Mishra, S., Sharma, M., Mohan, S.: Behavioural fault tolerant control of an omni directional mobile robot with four mecanum wheels. Def. Sci. J. 69(4), 353\u2013360 (Jul. 2019)","journal-title":"Def. Sci. J."},{"key":"1446_CR42","doi-asserted-by":"crossref","unstructured":"Lin, L.C., Shih, H.Y.: Modeling and adaptive control of an omni-mecanum-wheeled robot (2013)","DOI":"10.4236\/ica.2013.42021"},{"key":"1446_CR43","doi-asserted-by":"crossref","unstructured":"Sahoo, S.R., Chiddarwar, S.S., Alakshendra, V.: Intuitive dynamic modeling and flatness-based nonlinear control of a mobile robot. SIMULATION (2018)","DOI":"10.1177\/0037549717741192"},{"issue":"3","key":"1446_CR44","first-page":"6","volume":"113","author":"H Taheri","year":"2015","unstructured":"Taheri, H., Qiao, B., Ghaeminezhad N.: Article: Kinematic model of a four mecanum wheeled mobile robot. Int. J. Comput. Appl. 113(3), 6\u20139 (2015)","journal-title":"Int. J. Comput. Appl."},{"key":"1446_CR45","doi-asserted-by":"crossref","unstructured":"Tlale, N., de Villiers, M.: Kinematics and dynamics modelling of a mecanum wheeled mobile platform. In: 2008 15th International Conference on Mechatronics and Machine Vision in Practice, pp 657\u2013662. IEEE (2008)","DOI":"10.1109\/MMVIP.2008.4749608"},{"issue":"1-4","key":"1446_CR46","doi-asserted-by":"publisher","first-page":"65","DOI":"10.1007\/s10846-009-9383-1","volume":"57","author":"C Goerzen","year":"2010","unstructured":"Goerzen, C., Kong, Z., Mettler, B.: A survey of motion planning algorithms from the perspective of autonomous uav guidance. J. Intell. Robot. Syst. 57(1-4), 65 (2010)","journal-title":"J. Intell. Robot. Syst."},{"key":"1446_CR47","doi-asserted-by":"crossref","unstructured":"Alakshendra, V., Chiddarwar, S.S., Nikhade, G., Jha, A., Ranjan, S.: Robust trajectory tracking control for an omnidirectional mobile robot. In: Proceedings of the Advances in Robotics (2017)","DOI":"10.1145\/3132446.3134884"},{"issue":"4","key":"1446_CR48","doi-asserted-by":"publisher","first-page":"2147","DOI":"10.1007\/s11071-016-3179-1","volume":"87","author":"V Alakshendra","year":"2017","unstructured":"Alakshendra, V., Chiddarwar, S.S.: Adaptive robust control of mecanum-wheeled mobile robot with uncertainties. Nonlinear Dyn. 87(4), 2147\u20132169 (2017)","journal-title":"Nonlinear Dyn."},{"key":"1446_CR49","unstructured":"Isidori, A., De Persis, C.: Feedback linearization of nonlinear systems. In: Control Systems, Robotics and Automation\u2013Volume XII Nonlinear, Distributed, and Time Delay Systems-I, pp. 193 (2009)"},{"issue":"21","key":"1446_CR50","doi-asserted-by":"publisher","first-page":"1030","DOI":"10.1016\/j.ifacol.2015.09.662","volume":"48","author":"D Ichalal","year":"2015","unstructured":"Ichalal, D., Marx, B., Ragot, J., Maquin, D.: Unknown input observer for lpv systems with parameter varying output equation. IFAC-PapersOnLine 48(21), 1030\u20131035 (2015)","journal-title":"IFAC-PapersOnLine"},{"key":"1446_CR51","doi-asserted-by":"crossref","unstructured":"Chen, J., Patton, R.J.: Robust model-based fault diagnosis for dynamic systems, vol 3 Springer Science & Business Media (1999)","DOI":"10.1007\/978-1-4615-5149-2"},{"key":"1446_CR52","doi-asserted-by":"crossref","unstructured":"Frank, P.M.: Fault diagnosis in dynamic systems via state estimation-a survey. In: System Fault Diagnostics, Reliability and Related Knowledge-based Approaches, pp 35\u201398. Springer (1987)","DOI":"10.1007\/978-94-009-3929-5_2"},{"key":"1446_CR53","doi-asserted-by":"crossref","unstructured":"Clark, R.N.: Instrument fault detection. In: IEEE Trans. Aerospace and Electronic Systems, pp 456\u2013465. Springer (1978)","DOI":"10.1109\/TAES.1978.308607"},{"key":"1446_CR54","doi-asserted-by":"crossref","unstructured":"Gertler, J.: Fault detection and diagnosis. Encyclopedia of Systems and Control (2014)","DOI":"10.1002\/9781118445112.stat03644"},{"issue":"2","key":"1446_CR55","doi-asserted-by":"crossref","first-page":"88","DOI":"10.1080\/00031305.1994.10476030","volume":"48","author":"F Pukelsheim","year":"1994","unstructured":"Pukelsheim, F.: The three sigma rule. Am. Stat. 48(2), 88\u201391 (1994)","journal-title":"Am. Stat."}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-021-01446-7.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-021-01446-7\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-021-01446-7.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,9,4]],"date-time":"2024-09-04T15:55:50Z","timestamp":1725465350000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-021-01446-7"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,7,20]]},"references-count":55,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2021,8]]}},"alternative-id":["1446"],"URL":"https:\/\/doi.org\/10.1007\/s10846-021-01446-7","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,7,20]]},"assertion":[{"value":"29 September 2020","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"28 June 2021","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"20 July 2021","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"All authors certify that they have no affiliations with or involvement in any organization or entity with any financial interest or non-financial interest in the subject matter or materials discussed in this manuscript.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"<!--Emphasis Type='Bold' removed-->Conflict of Interests"}}],"article-number":"86"}}