Resilient Estimation and Safe Planning for UAVs in GPS-Denied Environments

Wenbin Wan, Hunmin Kim, Naira Hovakimyan, Petros Voulgaris, Lui R. Sha

Research output: Chapter in Book/Report/Conference proceedingChapter


Unmanned aerial vehicles (UAVs) suffer from intolerable sensor drifts in global positioning system (GPS)-denied environments, leading to potentially dangerous situations. This chapter proposes a safety-constrained control framework that adapts UAVs at a path re-planning level to support resilient state estimation in GPS-denied environments. The proposed framework consists of an anomaly detector, a resilient state estimator, a robust controller, a pursuer location tracker (PLT), and an escape controller (EsC). The detector ensures anomaly detection and provides a switching criterion between the robust control and emergency control modes. PLT is developed to track the pursuer’s location by the unscented Kalman filter with sliding window outputs. Using the estimates from PLT, we design an EsC based on the model predictive controller such that the UAV escapes from the effective range of the spoofing device within the escape time that is defined as the safe time within which the estimation errors remain in a tolerable region with high probability. Subsequently, the proposed framework is extended for the multi-UAV systems that perform the time-critical coordination task.

Original languageEnglish (US)
Title of host publicationAdvances in Industrial Control
Number of pages27
StatePublished - 2024

Publication series

NameAdvances in Industrial Control
VolumePart F1768
ISSN (Print)1430-9491
ISSN (Electronic)2193-1577

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Automotive Engineering
  • Aerospace Engineering
  • Industrial and Manufacturing Engineering


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