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Cooperative Sensor Fault Recovery in Multi-UAV Systems

Opened Access Cooperative Sensor Fault Recovery in Multi-UAV Systems

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Autor: Suárez Fernández-Miranda, Alejandro
Heredia Benot, Guillermo
Ollero Baturone, Aníbal
Departamento: Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática
Fecha: 2016
Publicado en: IEEE International Conference on Robotics and Automation (ICRA), (2016), p 1188-1193
ISBN/ISSN: 978-1-4673-8026-3
Tipo de documento: Ponencia
Resumen: This paper presents the design and experimental validation of a Fault Detection, Identification and Recovery (FDIR) system intended for multi-UAV applications. The system exploits the information provided by internal position, attitude and visual sensors onboard the UAVs of the fleet for detecting faults in the measurements of the position and attitude sensors of any of the member vehicles. Considering the observations provided by two or more UAVs in a cooperative way, it is possible to identify the source of the fault, but also implement a Cooperative Virtual Sensor (CVS) which provides a redundant position and velocity estimation of the faulty UAV that can be used for replacing its internal sensor. The vision-based FDIR system has been validated experimentally with quadrotors in an indoor testbed. In particular, fault detection and identification has been evaluated injecting a fault pattern offline on the position measurements, while the CVS has been applied in real time for the rec...
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Cita: Suárez Fernández-Miranda, A., Heredia Benot, G. y Ollero Baturone, A. (2016). Cooperative Sensor Fault Recovery in Multi-UAV Systems. En IEEE International Conference on Robotics and Automation (ICRA), (1188-1193), Stockholm, Sweden: Elsevier.
Tamaño: 1.073Mb
Formato: PDF

URI: https://hdl.handle.net/11441/71430

DOI: 10.1109/ICRA.2016.7487249

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