Analytical contract generation for unmanned aerial vehicle safety : obstacle avoidance
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Authors
Moy, Nicholas
Issue Date
2019-12
Type
Electronic thesis
Thesis
Thesis
Language
ENG
Keywords
Mechanical engineering
Alternative Title
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
Full Citation
Publisher
Rensselaer Polytechnic Institute, Troy, NY