{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,19]],"date-time":"2025-10-19T15:44:09Z","timestamp":1760888649669,"version":"build-2065373602"},"reference-count":22,"publisher":"Fuji Technology Press Ltd.","issue":"5","funder":[{"DOI":"10.13039\/501100001691","name":"Japan Society for the Promotion of Science","doi-asserted-by":"publisher","award":["23K03784"],"award-info":[{"award-number":["23K03784"]}],"id":[{"id":"10.13039\/501100001691","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["JRM","J. Robot. Mechatron."],"published-print":{"date-parts":[[2025,10,20]]},"abstract":"<jats:p>This study focuses on the challenges that arise following sensor failures in multi-robot systems reliant on relative position sensing for cooperative tasks. As a robot with a failed sensor cannot directly observe its neighbors, it would be unable to participate in coordinated coverage control. To address this issue, we propose a two-part method. First, a relative position estimation strategy enables the failed robot to infer the positions of its neighbors by using their shared observations and a dead-reckoning process based on communicated velocity data. Second, a motion control strategy guides the failed robot to a location where the overall sensor coverage area can be maximally recovered. The proposed strategies are designed to operate in a distributed manner by using only local communication. The effectiveness of the two-part method is demonstrated through experiments with physical robots and numerical simulations. The results reveal that sensor coverage can be maintained or restored even after sensor failures. These findings support the feasibility of robust multi-robot coordination in scenarios involving sensor failures.<\/jats:p>","DOI":"10.20965\/jrm.2025.p1254","type":"journal-article","created":{"date-parts":[[2025,10,19]],"date-time":"2025-10-19T15:02:06Z","timestamp":1760886126000},"page":"1254-1262","source":"Crossref","is-referenced-by-count":0,"title":["Coverage Maintenance in Multi-Robot Systems Under Sensor Failures"],"prefix":"10.20965","volume":"37","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3452-3155","authenticated-orcid":true,"given":"Toru","family":"Murayama","sequence":"first","affiliation":[{"name":"National Institute of Technology, Wakayama College, 77 Noshima, Nada, Gobo, Wakayama 644-0023, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shion","family":"Taira","sequence":"additional","affiliation":[{"name":"National Institute of Technology, Wakayama College, 77 Noshima, Nada, Gobo, Wakayama 644-0023, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shuhei","family":"Yamamoto","sequence":"additional","affiliation":[{"name":"National Institute of Technology, Wakayama College, 77 Noshima, Nada, Gobo, Wakayama 644-0023, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"8550","published-online":{"date-parts":[[2025,10,20]]},"reference":[{"key":"key-10.20965\/jrm.2025.p1254-1","doi-asserted-by":"crossref","unstructured":"J. Cort\u00e9s and M. Egerstedt, \u201cCoordinated Control of Multi-Robot Systems: A Survey,\u201d SICE J. of Control Measurement, and System Integration, Vol.10, No.6, pp. 495-503, 2017. https:\/\/doi.org\/10.9746\/jcmsi.10.495","DOI":"10.9746\/jcmsi.10.495"},{"key":"key-10.20965\/jrm.2025.p1254-2","doi-asserted-by":"crossref","unstructured":"J. P. Queralta, J. Taipalmaa, B. C. Pullinen, V. K. Sarker, T. N. Gia, H. Tenhunen, M. Gabbouj, J. Raitoharju, and T. Westerlund, \u201cCollaborative Multi-Robot Search and Rescue: Planning, Coordination, Perception, and Active Vision,\u201d IEEE Access, Vol.8, pp. 191617-191643, 2020. https:\/\/doi.org\/10.1109\/ACCESS.2020.3030190","DOI":"10.1109\/ACCESS.2020.3030190"},{"key":"key-10.20965\/jrm.2025.p1254-3","doi-asserted-by":"crossref","unstructured":"Y. Watanobe, R. Kabir, R. Aoba, A. Ohashi, S. Ogata, M. Shiga, K. Tsuruno, T. Anazawa, and K. Naruse, \u201cDisaster Rescue via Multi-Robot Collaboration: Development, Control, and Deployment,\u201d J. Robot. Mechatron., Vol.35, No.1, pp. 85-98, 2023. https:\/\/doi.org\/10.20965\/jrm.2023.p0085","DOI":"10.20965\/jrm.2023.p0085"},{"key":"key-10.20965\/jrm.2025.p1254-4","doi-asserted-by":"crossref","unstructured":"H. Sugiyama, T. Tsujioka, and M. Murata, \u201cReal-time exploration of a multi-robot rescue system in disaster areas,\u201d Advanced Robotics, Vol.27, No.17, pp. 1313-1323, 2013. https:\/\/doi.org\/10.1080\/01691864.2013.838333","DOI":"10.1080\/01691864.2013.838333"},{"key":"key-10.20965\/jrm.2025.p1254-5","doi-asserted-by":"crossref","unstructured":"T. Andre and C. Bettstetter, \u201cCollaboration in Multi-Robot Exploration: To Meet or not to Meet?,\u201d J. of Intelligent and Robotic Systems, Vol.82, pp. 325-337, 2016. https:\/\/doi.org\/10.1007\/s10846-015-0277-0","DOI":"10.1007\/s10846-015-0277-0"},{"key":"key-10.20965\/jrm.2025.p1254-6","doi-asserted-by":"crossref","unstructured":"A. Prorok, V. Kumar, B. Sadler, and G. Sukhatme, \u201cIntroduction to the Special Section on Resilience in Networked Robotic Systems,\u201d IEEE Trans. on Robotics, Vol.38, No.1, pp. 2-4, 2022. https:\/\/doi.org\/10.1109\/TRO.2022.3143013","DOI":"10.1109\/TRO.2022.3143013"},{"key":"key-10.20965\/jrm.2025.p1254-7","doi-asserted-by":"crossref","unstructured":"L. Guerrero-Bonilla, A. Prorok, and V. Kumar, \u201cFormations for Resilient Robot Teams,\u201d IEEE Robotics and Automation Letters, Vol.2, No.2, pp. 841-848, 2017. https:\/\/doi.org\/10.1109\/LRA.2017.2654550","DOI":"10.1109\/LRA.2017.2654550"},{"key":"key-10.20965\/jrm.2025.p1254-8","doi-asserted-by":"crossref","unstructured":"E. C. Ferrer, E. Jim\u00e9nez, J. L. Lopez-Presa, and J. Mart\u00edn-Rueda, \u201cFollowing Leaders in Byzantine Multirobot Systems by Using Blockchain Technology,\u201d IEEE Trans. on Robotics, Vol.38, No.2, pp. 1101-1117, 2022. https:\/\/doi.org\/10.1109\/TRO.2021.3104243","DOI":"10.1109\/TRO.2021.3104243"},{"key":"key-10.20965\/jrm.2025.p1254-9","doi-asserted-by":"crossref","unstructured":"H. Park and S. A. Hutchinson, \u201cFault-Tolerant Rendezvous of Multirobot Systems,\u201d IEEE Trans. on Robotics, Vol.33, No.3, pp. 565-582, 2017. https:\/\/doi.org\/10.1109\/TRO.2017.2658604","DOI":"10.1109\/TRO.2017.2658604"},{"key":"key-10.20965\/jrm.2025.p1254-10","doi-asserted-by":"crossref","unstructured":"C. Ghedini, C. Ribeiro, and L. Sabattini, \u201cToward fault-tolerant multi-robot networks,\u201d Networks, Vol.70, No.4, pp. 388-400, 2017. https:\/\/doi.org\/10.1002\/net.21784","DOI":"10.1002\/net.21784"},{"key":"key-10.20965\/jrm.2025.p1254-11","doi-asserted-by":"crossref","unstructured":"W. Luo, N. Chakraborty, and K. Sycara, \u201cMinimally Disruptive Connectivity Enhancement for Resilient Multi-Robot Teams,\u201d 2020 IEEE\/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 11809-11816, 2020. https:\/\/doi.org\/10.1109\/IROS45743.2020.9340733","DOI":"10.1109\/IROS45743.2020.9340733"},{"key":"key-10.20965\/jrm.2025.p1254-12","doi-asserted-by":"crossref","unstructured":"A. Suarez, G. Heredia, and A. Ollero, \u201cCooperative sensor fault recovery in multi-UAV systems,\u201d 2016 IEEE Int. Conf. on Robotics and Automation, pp. 1188-1193, 2016. https:\/\/doi.org\/10.1109\/ICRA.2016.7487249","DOI":"10.1109\/ICRA.2016.7487249"},{"key":"key-10.20965\/jrm.2025.p1254-13","doi-asserted-by":"crossref","unstructured":"X. Wang, S. Sun, T. Li, and Y. Liu, \u201cFault Tolerant Multi-Robot Cooperative Localization Based on Covariance Union,\u201d IEEE Robotics and Automation Letters, Vol.6, No.4, pp. 7799-7806, 2021. https:\/\/doi.org\/10.1109\/LRA.2021.3100000","DOI":"10.1109\/LRA.2021.3100000"},{"key":"key-10.20965\/jrm.2025.p1254-14","doi-asserted-by":"crossref","unstructured":"J. Cort\u00e9s, S. Martinez, and F. Bullo, \u201cSpatially-distributed coverage optimization and control with limited-range interactions,\u201d ESAIM: Control, Optimisation and Calculus of Variations, Vol.11, No.4, pp. 691-719, 2005. https:\/\/doi.org\/10.1051\/cocv:2005024","DOI":"10.1051\/cocv:2005024"},{"key":"key-10.20965\/jrm.2025.p1254-15","doi-asserted-by":"crossref","unstructured":"L. Dou, C. Song, X. Wang, L. Liu, and G. Feng, \u201cCoverage Control for Heterogeneous Mobile Sensor Networks Subject to Measurement Errors,\u201d IEEE Trans. on Automatic Control, Vol.63, No.10, pp. 3479-3486, 2018. https:\/\/doi.org\/10.1109\/TAC.2018.2799491","DOI":"10.1109\/TAC.2018.2799491"},{"key":"key-10.20965\/jrm.2025.p1254-16","doi-asserted-by":"crossref","unstructured":"F. Pratissoli, B. Capelli, and L. Sabattini, \u201cOn Coverage Control for Limited Range Multi-Robot Systems,\u201d 2022 IEEE\/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2022), pp. 9957-9963, 2022. https:\/\/doi.org\/10.1109\/IROS47612.2022.9982002","DOI":"10.1109\/IROS47612.2022.9982002"},{"key":"key-10.20965\/jrm.2025.p1254-17","doi-asserted-by":"crossref","unstructured":"S. Yamamoto and T. Murayama, \u201cRelative Position Estimation for Multi-Robot Collaboration with Sensor Failure,\u201d Proc. of JSME annual Conf. on Robotics and Mechatronics (Robomec), Article No.1P2-L10, 2024 (in Japanese). https:\/\/doi.org\/10.1299\/jsmermd.2024.1P2-L10","DOI":"10.1299\/jsmermd.2024.1P2-L10"},{"key":"key-10.20965\/jrm.2025.p1254-18","doi-asserted-by":"crossref","unstructured":"S. Taira and T. Murayama, \u201cCoverage Preservation Control for Multi-Robot Systems Considering Sensor Failure,\u201d Proc. of JSME annual Conf. on Robotics and Mechatronics (Robomec), Article No.1P2-L09, 2024 (in Japanese). https:\/\/doi.org\/10.1299\/jsmermd.2024.1P2-L09","DOI":"10.1299\/jsmermd.2024.1P2-L09"},{"key":"key-10.20965\/jrm.2025.p1254-19","doi-asserted-by":"crossref","unstructured":"J. van den Berg, M. Lin, and D. Manocha, \u201cReciprocal Velocity Obstacles for real-time multi-agent navigation,\u201d 2008 IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 1928-1935, 2008. https:\/\/doi.org\/10.1109\/ROBOT.2008.4543489","DOI":"10.1109\/ROBOT.2008.4543489"},{"key":"key-10.20965\/jrm.2025.p1254-20","doi-asserted-by":"crossref","unstructured":"A. Howard, \u201cMulti-robot Simultaneous Localization and Mapping using Particle Filters,\u201d The Int. J. of Robotics Research, Vol.25, No.12, pp. 1243-1256, 2006. https:\/\/doi.org\/10.1177\/0278364906072250","DOI":"10.1177\/0278364906072250"},{"key":"key-10.20965\/jrm.2025.p1254-21","doi-asserted-by":"crossref","unstructured":"T. Murayama, \u201cDistributed Control for Bi-connectivity of Multi-robot Network,\u201d SICE J. of Control, Measurement, and System Integration, Vol.16, No.1, pp. 1-10, 2023. https:\/\/doi.org\/10.1080\/18824889.2022.2157194","DOI":"10.1080\/18824889.2022.2157194"},{"key":"key-10.20965\/jrm.2025.p1254-22","doi-asserted-by":"crossref","unstructured":"L. Zhang, Z. Zhang, R. Siegwart, and J. J. Chung, \u201cA Connectivity-Prediction Algorithm and its Application in Active Cooperative Localization for Multi-Robot Systems,\u201d 2020 IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 9824-9830, 2020. https:\/\/doi.org\/10.1109\/ICRA40945.2020.9197083","DOI":"10.1109\/ICRA40945.2020.9197083"}],"container-title":["Journal of Robotics and Mechatronics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.fujipress.jp\/main\/wp-content\/themes\/Fujipress\/hyosetsu.php?ppno=robot003700050025","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,19]],"date-time":"2025-10-19T15:04:42Z","timestamp":1760886282000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.fujipress.jp\/jrm\/rb\/robot003700051254"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,10,20]]},"references-count":22,"journal-issue":{"issue":"5","published-online":{"date-parts":[[2025,10,20]]},"published-print":{"date-parts":[[2025,10,20]]}},"URL":"https:\/\/doi.org\/10.20965\/jrm.2025.p1254","relation":{},"ISSN":["1883-8049","0915-3942"],"issn-type":[{"value":"1883-8049","type":"electronic"},{"value":"0915-3942","type":"print"}],"subject":[],"published":{"date-parts":[[2025,10,20]]}}}