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Original scientific paper
https://doi.org/10.1080/00051144.2020.1733324

Risk-sensitive motion planning for MAVs based on mission-related fault-tolerant analysis

Nedim Osmic ; Department of Automatic Control and Electronics, Faculty of Electrical Engineering, University of Sarajevo, Sarajevo, Bosnia and Herzegovina
Adnan Tahirovic ; Department of Automatic Control and Electronics, Faculty of Electrical Engineering, University of Sarajevo, Sarajevo, Bosnia and Herzegovina
Ivan Petrovic ; Department of Control and Computer Engineering, Faculty of Electrical Engineering and Computing, University of Zagreb, Zagreb, Croatia

Fulltext: english, pdf (3 MB) pages 295-311 downloads: 137* cite
APA 6th Edition
Osmic, N., Tahirovic, A. & Petrovic, I. (2020). Risk-sensitive motion planning for MAVs based on mission-related fault-tolerant analysis. Automatika, 61 (2), 295-311. https://doi.org/10.1080/00051144.2020.1733324
MLA 8th Edition
Osmic, Nedim, et al. "Risk-sensitive motion planning for MAVs based on mission-related fault-tolerant analysis." Automatika, vol. 61, no. 2, 2020, pp. 295-311. https://doi.org/10.1080/00051144.2020.1733324. Accessed 8 Dec. 2021.
Chicago 17th Edition
Osmic, Nedim, Adnan Tahirovic and Ivan Petrovic. "Risk-sensitive motion planning for MAVs based on mission-related fault-tolerant analysis." Automatika 61, no. 2 (2020): 295-311. https://doi.org/10.1080/00051144.2020.1733324
Harvard
Osmic, N., Tahirovic, A., and Petrovic, I. (2020). 'Risk-sensitive motion planning for MAVs based on mission-related fault-tolerant analysis', Automatika, 61(2), pp. 295-311. https://doi.org/10.1080/00051144.2020.1733324
Vancouver
Osmic N, Tahirovic A, Petrovic I. Risk-sensitive motion planning for MAVs based on mission-related fault-tolerant analysis. Automatika [Internet]. 2020 [cited 2021 December 08];61(2):295-311. https://doi.org/10.1080/00051144.2020.1733324
IEEE
N. Osmic, A. Tahirovic and I. Petrovic, "Risk-sensitive motion planning for MAVs based on mission-related fault-tolerant analysis", Automatika, vol.61, no. 2, pp. 295-311, 2020. [Online]. https://doi.org/10.1080/00051144.2020.1733324

Abstracts
Multirotor Aerial Vehicles may be fault-tolerant by design when rotor-failure is possible to measure or identify, especially when a large number of rotors are used. For instance, an octocopter can be capable to complete some missions even when a double-rotor fault occurs during the execution. In this paper, we study how a rotor-failure reduces the vehicle control admissible set and its importance with respect to the selected mission, i.e. we perform mission-related fault-tolerant analysis. Furthermore, we propose a risk-sensitive motion-planning algorithm capable to take into account the risks during the planning stage by means of mission-related fault-tolerant analysis. We show that the proposed approach is much less conservative in terms of selected performance measures than a conservative risk planner that assumes that the considered fault will certainly occur during the mission execution. As expected, the proposed risk-sensitive motion planner is also readier for accepting failures during the mission execution than the risk-insensitive approach that assumes no failure will occur.

Keywords
System failure and recovery; fault-tolerant analysis; mission planning; MAV

Hrčak ID: 239872

URI
https://hrcak.srce.hr/239872

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