{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,18]],"date-time":"2026-03-18T06:26:34Z","timestamp":1773815194059,"version":"3.50.1"},"reference-count":38,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2026,3,16]],"date-time":"2026-03-16T00:00:00Z","timestamp":1773619200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>This paper highlights a communal fault detection and isolation framework integrating a convolutional neural network (CNN) with a finite-state machine (FSM). The proposed concepts ensure state-based controlled discriminate pattern recognition and enable the diagnosis of different anomalies in the mobile robot in a multi-robot environment. The framework processes the time-series sensor data through the convolution layer upon experiencing different types of fault and governs different states based on fault diagnosis and recovery. The proposed concept has been validated using a Python 3.11 and Webot environment featuring the shrimp robot in a multi-robot arena. The model obtained an accuracy of 97% in identifying and classifying faults, enabling automated recovery of faulty robots in the multi-robot environment. Experiments conducted on different simulators demonstrate that effective fault management can be achieved with low training loss.<\/jats:p>","DOI":"10.3390\/robotics15030061","type":"journal-article","created":{"date-parts":[[2026,3,16]],"date-time":"2026-03-16T15:21:16Z","timestamp":1773674476000},"page":"61","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Integrating Convolutional Neural Networks with Finite-State Machines for Fault Detection in Mobile Robots"],"prefix":"10.3390","volume":"15","author":[{"ORCID":"https:\/\/orcid.org\/0009-0001-6698-7165","authenticated-orcid":false,"given":"Nilachakra","family":"Dash","sequence":"first","affiliation":[{"name":"Department of Computer Science and Engineering, GIET University, Gunupur 765022, India"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9746-5303","authenticated-orcid":false,"given":"Bandita","family":"Sahu","sequence":"additional","affiliation":[{"name":"School of Applied Sciences, Birla Global University, Bhubaneswar 751029, India"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9982-7136","authenticated-orcid":false,"given":"Kakita Murali","family":"Gopal","sequence":"additional","affiliation":[{"name":"Department of Computer Science and Engineering, GIET University, Gunupur 765022, India"}]},{"given":"Indrajeet","family":"Kumar","sequence":"additional","affiliation":[{"name":"School of Applied Sciences, Birla Global University, Bhubaneswar 751029, India"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5623-8446","authenticated-orcid":false,"given":"Ramesh Kumar","family":"Sahoo","sequence":"additional","affiliation":[{"name":"School of Applied Sciences, Birla Global University, Bhubaneswar 751029, India"}]}],"member":"1968","published-online":{"date-parts":[[2026,3,16]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"0291","DOI":"10.34133\/space.0291","article-title":"Review of Autonomous Space Robotic Manipulators for On-Orbit Servicing and Active Debris Removal","volume":"5","author":"Fallahiarezoodar","year":"2025","journal-title":"Space Sci. 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