TY - GEN
T1 - Control failures in an unmanned aerial system and the potential for stateless control
AU - Norland, Kyle
AU - Marcellin, Michael W.
N1 - Funding Information:
The author would like to thank Michael Marcellin for being an available and helpful advisor. Thanks also to the rest of the 2019 AZA team for their willingness to work hard and think creatively to solve the problems we have faced this year. Finally, thank you to my mother and editor Kate Norland, for her insightful guidance and discussion as I developed these ideas.
Publisher Copyright:
© 2019 International Foundation for Telemetering. All rights reserved.
PY - 2019
Y1 - 2019
N2 - To participate in the 2019 SUAS competition, an Unmanned Aerial System (UAS), was built. Unfortunately, several critical failures occurred, including an unwanted circling behavior, and an unnecessary self-crash. The analysis of both behaviors revealed surface level errors in the scripts and devices that were used, but also a deeper flaw in the architecture of state based behaviors and conditional state transitions. To address these failures, an alternative architecture based around stateless controls was designed and tested. It successfully resolved the issues, and seems to hold promise as an alternative control system architecture, especially in non-linear environments.
AB - To participate in the 2019 SUAS competition, an Unmanned Aerial System (UAS), was built. Unfortunately, several critical failures occurred, including an unwanted circling behavior, and an unnecessary self-crash. The analysis of both behaviors revealed surface level errors in the scripts and devices that were used, but also a deeper flaw in the architecture of state based behaviors and conditional state transitions. To address these failures, an alternative architecture based around stateless controls was designed and tested. It successfully resolved the issues, and seems to hold promise as an alternative control system architecture, especially in non-linear environments.
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M3 - Conference contribution
AN - SCOPUS:85090926691
T3 - Proceedings of the International Telemetering Conference
SP - 578
EP - 587
BT - 55th Annual International Telemetering Conference, ITC 2019
PB - International Foundation for Telemetering
T2 - 55th Annual International Telemetering Conference: Cultivating the Next Generation of Range Engineers, ITC 2019
Y2 - 21 October 2019 through 24 October 2019
ER -