In this paper, a hybrid fault diagnosis methodology is developed for a team of unmanned aerial vehicles (UAVs) which takes advantage of the cooperative nature of the system to detect and isolate faults that have occurred in the team. The proposed methodology consists of a low-level (agent level) and a high-level (team level) fault diagnosis units. The high-level fault diagnosis is formulated in the discrete-event systems (DES) framework, whereas the low-level one uses the classical diagnosis techniques. It is shown that a larger class of faults can be detected and isolated with this method when compared to existing results in the literature. The proposed method is verified through simulations.
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