Federated Physics-Informed Graph Framework Guided by Multianchors for Heterogeneous Wheeled Robots Collaborative Fault Diagnosis

Wheeled robot fault diagnosis is indispensable for ensuring its reliable and safe operations. However, two challenges impede the application of prevalent intelligent diagnosis methods. 1) Multisensor fusion: The complexity of robot movements necessitates multisensor for comprehensive monitoring, generating strong-coupled, and high-dimensional data that complicate both intrinsic relationship mining and effective fusion; 2) Heterogeneous data silos: Dispersibility, heterogeneity and privacy constr