TY - GEN
T1 - Safety Constrained Multi-UAV Time Coordination
T2 - AIAA Aviation and Aeronautics Forum and Exposition, AIAA AVIATION Forum 2021
AU - Wan, Wenbin
AU - Kim, Hunmin
AU - Cheng, Yikun
AU - Hovakimyan, Naira
AU - Voulgaris, Petros G
AU - Sha, Lui
N1 - Funding Information:
∗This work has been supported by the National Science Foundation (ECCS-1739732 and CMMI-1663460). †Graduate student, Department of Mechanical Science and Engineering, wenbinw2@illinois.edu. ‡Postdoctoral Research Associate, Department of Mechanical Science and Engineering, hunmin@illinois.edu §Graduate student, Department of Mechanical Science and Engineering, yikun2@illinois.edu. ¶Professor, Department of Mechanical Science and Engineering, nhovakim@illinois.edu, AIAA Fellow. ‖Professor, Department of Mechanical Engineering, pvoulgaris@unr.edu. ∗∗Professor, Department of Computer Science, lrs@illinois.edu.
Publisher Copyright:
© 2021, American Institute of Aeronautics and Astronautics Inc.. All rights reserved.
PY - 2021
Y1 - 2021
N2 - Unmanned aerial vehicles (UAVs) suffer from sensor drifts in GPS denied environments, which can cause safety issues. To avoid intolerable sensor drifts while completing the time-critical coordination task for multi-UAV systems, we propose a safety constrained bi-level control framework. The first level is the time-critical coordination level that achieves a consensus of coordination states and provides a virtual target which is a function of the coordination state. The second level is the safety-critical control level that is designed to follow the virtual target while adapting the attacked UAV(s) at a path re-planning level to support resilient state estimation. In particular, the time-critical coordination level framework generates the desired speed and position profile of the virtual target based on the multi-UAV cooperative mission by the proposed consensus protocol algorithm. The safety-critical control level is able to make each UAV follow its assigned path while detecting the attacks, estimating the state resiliently, and driving the UAV(s) outside the effective range of the spoofing device within the escape time. The numerical simulations of a three-UAV system demonstrate the effectiveness of the proposed safety constrained bi-level control framework.
AB - Unmanned aerial vehicles (UAVs) suffer from sensor drifts in GPS denied environments, which can cause safety issues. To avoid intolerable sensor drifts while completing the time-critical coordination task for multi-UAV systems, we propose a safety constrained bi-level control framework. The first level is the time-critical coordination level that achieves a consensus of coordination states and provides a virtual target which is a function of the coordination state. The second level is the safety-critical control level that is designed to follow the virtual target while adapting the attacked UAV(s) at a path re-planning level to support resilient state estimation. In particular, the time-critical coordination level framework generates the desired speed and position profile of the virtual target based on the multi-UAV cooperative mission by the proposed consensus protocol algorithm. The safety-critical control level is able to make each UAV follow its assigned path while detecting the attacks, estimating the state resiliently, and driving the UAV(s) outside the effective range of the spoofing device within the escape time. The numerical simulations of a three-UAV system demonstrate the effectiveness of the proposed safety constrained bi-level control framework.
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U2 - 10.2514/6.2021-2463
DO - 10.2514/6.2021-2463
M3 - Conference contribution
AN - SCOPUS:85126764912
SN - 9781624106101
T3 - AIAA Aviation and Aeronautics Forum and Exposition, AIAA AVIATION Forum 2021
BT - AIAA Aviation and Aeronautics Forum and Exposition, AIAA AVIATION Forum 2021
PB - American Institute of Aeronautics and Astronautics Inc, AIAA
Y2 - 2 August 2021 through 6 August 2021
ER -