Analytical contract generation for unmanned aerial vehicle safety : obstacle avoidance
Authors
Moy, Nicholas
ORCID
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Other Contributors
Mishra, Sandipan
Hicken, Jason
Julius, Anak Agung
Diagne, Mamadou L.
Hicken, Jason
Julius, Anak Agung
Diagne, Mamadou L.
Issue Date
2019-12
Keywords
Mechanical engineering
Degree
MS
Terms of Use
This electronic version is a licensed copy owned by Rensselaer Polytechnic Institute, Troy, NY. Copyright of original work retained by author.
Full Citation
Abstract
The application of contract-based design to UAV guidance, navigation, and control (GNC) systems is proposed as a way to guaranteed performance. Contract-based design has been used to formally verify performance on distributed systems in other applications. The purpose of this research is to develop contracts that encode the limits on operational conditions for safe flight. A reverse-reachability approach with a novel computational implementation is used to compute sufficient conditions for a crash with static obstacles, moving obstacles, and between two UAV's. Contracts that dictate limits on operational parameters are generated based on these results.
Description
December 2019
School of Engineering
School of Engineering
Department
Dept. of Mechanical, Aerospace, and Nuclear Engineering
Publisher
Rensselaer Polytechnic Institute, Troy, NY
Relationships
Rensselaer Theses and Dissertations Online Collection
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