Distributed Fault Detection Scheme for Snake Robot Platoon

This paper investigates distributed fault detection for snake robot platoons in zero-trust environments, employing a scheme based on ℒ
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observers to enhance reliability through secure information transmission. The approach defines relative output estimation errors based on communication topologies, then designs a fault detection scheme based on ℒ
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observers and verifies its stability and conditions for existence. Simulation results confirm the effectiveness of the scheme, demonstrating its potential to improve fault detection accuracy and security in complex robotic systems.