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

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