Resilient multi-UAS coordination using cooperative localization

Harshvardhan Uppaluru; Hamid Emadi; Hossein Rastgoftar

doi:10.1016/j.ast.2022.107960

Resilient multi-UAS coordination using cooperative localization

Harshvardhan Uppaluru, Hamid Emadi, Hossein Rastgoftar

Aerospace and Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

7 Scopus citations

Abstract

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.

Original language	English (US)
Article number	107960
Journal	Aerospace Science and Technology
Volume	131
DOIs	https://doi.org/10.1016/j.ast.2022.107960
State	Published - Dec 2022

Keywords

Continuum deformation coordination
Multi-UAS (MUS)
State estimation
Unmanned aerial systems (UAS)

ASJC Scopus subject areas

Aerospace Engineering

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10.1016/j.ast.2022.107960

Cite this

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title = "Resilient multi-UAS coordination using cooperative localization",

abstract = "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.",

keywords = "Continuum deformation coordination, Multi-UAS (MUS), State estimation, Unmanned aerial systems (UAS)",

author = "Harshvardhan Uppaluru and Hamid Emadi and Hossein Rastgoftar",

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T1 - Resilient multi-UAS coordination using cooperative localization

AU - Uppaluru, Harshvardhan

AU - Emadi, Hamid

AU - Rastgoftar, Hossein

PY - 2022/12

Y1 - 2022/12

N2 - 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.

AB - 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.

KW - Continuum deformation coordination

KW - Multi-UAS (MUS)

KW - State estimation

KW - Unmanned aerial systems (UAS)

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Resilient multi-UAS coordination using cooperative localization

Abstract

Keywords

ASJC Scopus subject areas

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