Resilient multi-UAS coordination using cooperative localization
Resilient multi-UAS coordination using cooperative localization
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DOI：
10.1016/j.ast.2022.107960
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发表时间：
2022-10
影响因子：
5.6
通讯作者：
Harshvardhan Uppaluru;H. Emadi;H. Rastgoftar
中科院分区：
文献类型：
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作者：
Harshvardhan Uppaluru;H. Emadi;H. Rastgoftar
在过去的十年中，多无人机系统（MUS）已经在各种环境中找到了各种应用，如监视，数据采集，搜索和救援以及交付任务。然而，为了MUS的可靠操作，提供确保避免障碍物碰撞以及避免UAS间碰撞的安全保证条件是至关重要的。在这项工作中，我们应用连续介质力学的原理来开发一种受物理启发的算法，以确定在存在干扰和不可预见的UAS故障的情况下MUS的安全和弹性操作。特别地，所提出的方法由两种模式组成：（i）均匀变形模式（HDM）和（ii）失效弹性模式（FRM）。我们正式指定HDM和FRM之间的过渡使用合作定位（CL）的方法来量化无人机跟踪误差和检测异常情况下，由于无人机故障。
Over the last decade, Multi-UAS system (MUS) have found a variety of applications such as surveillance, data acquisition, search and rescue, and delivery tasks in various environments. However, for reliable operation of MUS, it is critical to provide safety guarantee conditions assuring obstacle collision avoidance, as well as, inter-UAS collision avoidance. In this work, we apply the principles of continuum mechanics to develop a physics-inspired algorithm to ascertain safe and resilient operation of a MUS in the presence of disturbances and unforeseen UAS failure(s). In particular, the proposed approach consists of two modes: (i) Homogeneous Deformation Mode (HDM), and (ii) Failure Resilient Mode (FRM). We formally specify transitions between HDM and FRM using Cooperative Localization (CL) approach to quantify UAS tracking error and detect anomalous conditions due to UAS failure.