Purpose Mobile robots may perform very critical tasks under difficult operating conditions. Faults encountered during their tasks may cause the task to be interrupted or failed completely. In the active fault tolerant control methods, it is very important not only to detect the faults that occur...

Fault detection and isolation (FDI) and design of optimal maintenance policies have been traditionally studied separately by the control community and domain experts on the one hand and the operations research community on the other. The objective of this paper is to provide a unified approach...