Powerful, small and lightweight sensors in combination with advanced failure detection, diagnosis, and prognostics techniques provide up-to-date data on the health status of a Unmanned Aerial System (UAS). In an autonomous UAS, this information must be used for automatic planning and execution of contingency actions to keep the UAS safe in adverse conditions.
We present DM (Decision Maker), a software component which uses model-based reasoning, backtracking search to iteratively construct contingency plans
that are safe for the UAS to execute and pose minimal interruption to the mission goals. The DM, which has been developed within the NASA Autonomous Operating System (AOS) project thus fills the gap between Prognostics and Health Management and autonomous flight operations.In this paper, we describe DM and its reasoning/search algorithm and present the supporting modeling framework for the construction of system and fault models. An flight with a DJI S1000+ octocopter with fault injection will be used as our case study.
How to Cite
UAS, On-board decision making, contingency planning
This work is licensed under a Creative Commons Attribution 3.0 Unported License.
The Prognostic and Health Management Society advocates open-access to scientific data and uses a Creative Commons license for publishing and distributing any papers. A Creative Commons license does not relinquish the author’s copyright; rather it allows them to share some of their rights with any member of the public under certain conditions whilst enjoying full legal protection. By submitting an article to the International Conference of the Prognostics and Health Management Society, the authors agree to be bound by the associated terms and conditions including the following:
As the author, you retain the copyright to your Work. By submitting your Work, you are granting anybody the right to copy, distribute and transmit your Work and to adapt your Work with proper attribution under the terms of the Creative Commons Attribution 3.0 United States license. You assign rights to the Prognostics and Health Management Society to publish and disseminate your Work through electronic and print media if it is accepted for publication. A license note citing the Creative Commons Attribution 3.0 United States License as shown below needs to be placed in the footnote on the first page of the article.
First Author et al. This is an open-access article distributed under the terms of the Creative Commons Attribution 3.0 United States License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.