FLAM: Fault Localization and Mapping

Multi-robot systems are increasingly used in several industry automation and warehouse management applications, mostly with a centralized hub for coordination. Several decentralized infrastructures have been studied for using multi-robot systems in real mission scenarios like search-and-rescue, area coverage and exploration. However, despite designing rigorous methods for using multi-robot systems in a decentralized setting, long-term field deployments still seem unfeasible. The lack of proper infrastructure for tackling fault-detection is one of the great challenges in this regard. We propose FLAM ( https://github.com/MISTLab/FLAM ), a fault localization and mapping algorithm that detects faults in a robotic system and uses them to build a map of the environmental hazards, effectively providing risk-awareness to the robotic team.