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.


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    Titel :

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


    Beteiligte:
    Osmic, Nedim (Autor:in) / Tahirovic, Adnan (Autor:in) / Petrovic, Ivan (Autor:in)

    Erscheinungsdatum :

    01.01.2020


    Anmerkungen:

    Automatika : časopis za automatiku, mjerenje, elektroniku, računarstvo i komunikacije ; ISSN 0005-1144 (Print) ; ISSN 1848-3380 (Online) ; Volume 61 ; Issue 2


    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



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