Cooperative Virtual Sensor for Fault Detection and Identification in Multi-UAV Applications
Joint Authors
Heredia, Guillermo
Ollero, Anibal
Suarez, Alejandro
Source
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-19, 19 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-04-30
Country of Publication
Egypt
No. of Pages
19
Main Subjects
Abstract EN
This paper considers the problem of fault detection and identification (FDI) in applications carried out by a group of unmanned aerial vehicles (UAVs) with visual cameras.
In many cases, the UAVs have cameras mounted onboard for other applications, and these cameras can be used as bearing-only sensors to estimate the relative orientation of another UAV.
The idea is to exploit the redundant information provided by these sensors onboard each of the UAVs to increase safety and reliability, detecting faults on UAV internal sensors that cannot be detected by the UAVs themselves.
Fault detection is based on the generation of residuals which compare the expected position of a UAV, considered as target, with the measurements taken by one or more UAVs acting as observers that are tracking the target UAV with their cameras.
Depending on the available number of observers and the way they are used, a set of strategies and policies for fault detection are defined.
When the target UAV is being visually tracked by two or more observers, it is possible to obtain an estimation of its 3D position that could replace damaged sensors.
Accuracy and reliability of this vision-based cooperative virtual sensor (CVS) have been evaluated experimentally in a multivehicle indoor testbed with quadrotors, injecting faults on data to validate the proposed fault detection methods.
American Psychological Association (APA)
Suarez, Alejandro& Heredia, Guillermo& Ollero, Anibal. 2018. Cooperative Virtual Sensor for Fault Detection and Identification in Multi-UAV Applications. Journal of Sensors،Vol. 2018, no. 2018, pp.1-19.
https://search.emarefa.net/detail/BIM-1201478
Modern Language Association (MLA)
Suarez, Alejandro…[et al.]. Cooperative Virtual Sensor for Fault Detection and Identification in Multi-UAV Applications. Journal of Sensors No. 2018 (2018), pp.1-19.
https://search.emarefa.net/detail/BIM-1201478
American Medical Association (AMA)
Suarez, Alejandro& Heredia, Guillermo& Ollero, Anibal. Cooperative Virtual Sensor for Fault Detection and Identification in Multi-UAV Applications. Journal of Sensors. 2018. Vol. 2018, no. 2018, pp.1-19.
https://search.emarefa.net/detail/BIM-1201478
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1201478