Pretražite po imenu i prezimenu autora, mentora, urednika, prevoditelja

Napredna pretraga

Pregled bibliografske jedinice broj: 1054577

Risk-sensitive motion planning for MAVs based on mission-related fault-tolerant analysis


Osmić, Nedim; Tahirović, Andnan; Petrović, Ivan
Risk-sensitive motion planning for MAVs based on mission-related fault-tolerant analysis // Automatika : časopis za automatiku, mjerenje, elektroniku, računarstvo i komunikacije, 61 (2020), 2; 295-311 doi:10.1080/00051144.2020.1733324 (međunarodna recenzija, članak, znanstveni)


CROSBI ID: 1054577 Za ispravke kontaktirajte CROSBI podršku putem web obrasca

Naslov
Risk-sensitive motion planning for MAVs based on mission-related fault-tolerant analysis

Autori
Osmić, Nedim ; Tahirović, Andnan ; Petrović, Ivan

Izvornik
Automatika : časopis za automatiku, mjerenje, elektroniku, računarstvo i komunikacije (0005-1144) 61 (2020), 2; 295-311

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
System failure and recovery, fault-tolerant analysis, mission planning, MAV

Sažetak
Multirotor Aerial Vehicles may be fault-tolerant by design when rotor-failure is possible to measure or identify, especially when a large number of rotors are used. For instance, an octocopter can be capable to complete some missions even when a double-rotor fault occurs during the execution. In this paper, we study how a rotor-failure reduces the vehicle control admissible set and its importance with respect to the selected mission, i.e. we perform mission-related fault-tolerant analysis. Furthermore, we propose a risk-sensitive motion- planning algorithm capable to take into account the risks during the planning stage by means of mission-related fault-tolerant analysis. We show that the proposed approach is much less conservative in terms of selected performance measures than a conservative risk planner that assumes that the considered fault will certainly occur during the mission execution. As expected, the proposed risk-sensitive motion planner is also readier for accepting failures during the mission execution than the risk-insensitive approach that assumes no failure will occur.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti



POVEZANOST RADA


Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb

Profili:

Avatar Url Ivan Petrović (autor)

Citiraj ovu publikaciju

Osmić, Nedim; Tahirović, Andnan; Petrović, Ivan
Risk-sensitive motion planning for MAVs based on mission-related fault-tolerant analysis // Automatika : časopis za automatiku, mjerenje, elektroniku, računarstvo i komunikacije, 61 (2020), 2; 295-311 doi:10.1080/00051144.2020.1733324 (međunarodna recenzija, članak, znanstveni)
Osmić, N., Tahirović, A. & Petrović, I. (2020) Risk-sensitive motion planning for MAVs based on mission-related fault-tolerant analysis. Automatika : časopis za automatiku, mjerenje, elektroniku, računarstvo i komunikacije, 61 (2), 295-311 doi:10.1080/00051144.2020.1733324.
@article{article, year = {2020}, pages = {295-311}, DOI = {10.1080/00051144.2020.1733324}, keywords = {System failure and recovery, fault-tolerant analysis, mission planning, MAV}, journal = {Automatika : \v{c}asopis za automatiku, mjerenje, elektroniku, ra\v{c}unarstvo i komunikacije}, doi = {10.1080/00051144.2020.1733324}, volume = {61}, number = {2}, issn = {0005-1144}, title = {Risk-sensitive motion planning for MAVs based on mission-related fault-tolerant analysis}, keyword = {System failure and recovery, fault-tolerant analysis, mission planning, MAV} }
@article{article, year = {2020}, pages = {295-311}, DOI = {10.1080/00051144.2020.1733324}, keywords = {System failure and recovery, fault-tolerant analysis, mission planning, MAV}, journal = {Automatika : \v{c}asopis za automatiku, mjerenje, elektroniku, ra\v{c}unarstvo i komunikacije}, doi = {10.1080/00051144.2020.1733324}, volume = {61}, number = {2}, issn = {0005-1144}, title = {Risk-sensitive motion planning for MAVs based on mission-related fault-tolerant analysis}, keyword = {System failure and recovery, fault-tolerant analysis, mission planning, MAV} }

Časopis indeksira:


  • Web of Science Core Collection (WoSCC)
    • Science Citation Index Expanded (SCI-EXP)
    • SCI-EXP, SSCI i/ili A&HCI
  • Scopus


Uključenost u ostale bibliografske baze podataka:


  • INSPEC


Citati





    Contrast
    Increase Font
    Decrease Font
    Dyslexic Font