Safe2Ditch: Emergency Landing for Small Unmanned Aircraft Systems

Lusk, Parker C.; Glaab, Patricia; Glaab, Louis J.; Beard, Randal W.

doi:10.2514/1.i010706

Cited by 18 publications

(8 citation statements)

References 12 publications

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“…Once the UAV arrives at the landing spot way-point in the x-y plane, we consider that it enters into a different operating mode, and a different planning strategy is required to implement safe landing. This may involve other sensors, such as visual sensors (Lusk et al, 2019).…”

Section: Trajectory Re-planningmentioning

confidence: 99%

Online decision making and path planning framework for safe operation of unmanned aerial vehicles in urban scenarios

̃nones-Grueiro

Biswas

Ahmed

et al. 2021

IJPHM

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As the potential for deploying low-flying unmanned aerial vehicles (UAVs) in urban spaces increases, ensuring their safe operations is becoming a major concern. Given the uncertainties in their operational environments caused by wind gusts, degraded state of health, and probability of collision with static and dynamic objects, it becomes imperative to develop online decision-making schemes to ensure safe flights. In this paper, we propose an online decision-making framework that takes into account the state of health of the UAV, the environmental conditions, and the obstacle map to assess the probability of mission failure and re-plan accordingly. The online re-planning strategy considers two situations: (1) updating the current trajectory to reduce the probability of collision; and (2) defining a new trajectory to find a new safe landing spot, if continued flight would result in risk values above a pre-specified threshold. The re-planning routine uses the differential evolution optimization method and takes into account the dynamics of the UAV and its components as well as the environmental wind conditions. The new trajectory generation routine combines probabilistic road-maps with B-spline smoothing to ensure a dynamically feasible trajectory. We demonstrate the effectiveness of our approach by running UAV flight simulation experiments in urban scenarios.

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Section: Trajectory Re-planningmentioning

confidence: 99%

Online decision making and path planning framework for safe operation of unmanned aerial vehicles in urban scenarios

̃nones-Grueiro

Biswas

Ahmed

et al. 2021

IJPHM

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“…𝛼 𝜎𝑇 𝑆 = 𝑃 + 𝑃 (13) when thermal equilibrium is attained, no current passes through the coil, Pd = 0, and Eq. ( 13) results in the following equation;…”

Section: Comparison Of Air-coil Configurationsmentioning

confidence: 99%

Optimized Design of Embedded Air Coil for Small Satellites with Various Dimensions

Khan

Ali

Yang

et al. 2021

Journal of Aerospace Information Systems

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Active attitude control systems using a novel six layers electromagnetic embedded printed Air-Coils for small satellites with various dimensions are presented in this paper. The proposed designs are optimized in terms of available area, generated torque, power dissipation and generated magnetic dipole moment. The designed printed Air-Coils are the best choice for small satellites attitude stabilization in terms of their modularity, reconfigurability, lower cost, lesser space occupation and low mass. The printed Air-Coil is designed and analyzed for three small satellites with dimensions 10 𝒄𝒎 𝟑 , 13𝒄𝒎 𝟑 and 16𝒄𝒎 𝟑 . The design is implemented with Commercial off the shelf (COTS) microdevices which are inexpensive, reliable and easily accessible. The printed Air-Coil is integrated in internal layers of printed circuit board (PCB) which does not require additional space on the spacecraft. The proposed Air-Coil with additional configurability features (2×3, 3×2 hybrid) provide more flexibility to the design aspects by changing the arrangement through the onboard processor according to mission requirements. Electrothermal analysis of the Air-Coil module is done to keep the thermals in check and validate its feasibility. Time varying rotational operation of nanosatellites is performed to test the rotation time for spin stabilized satellites. Significant performance parameters like generated magnetic moment, resultant torque and power dissipation are evaluated and compared with the already commercial state of the art.

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“…ICAROUS [2] augments Safeguard's geofencing by adding detect and avoid capabilities against fixed obstacles and other vehicles, as well as the ability to compute a conflict-free "return to mission" path. ICAROUS is being integrated with Safe2Ditch [5], a computer vision-based landing site selection system, which should reduce risk to the UAV. However, in the event of a geofence violation, Safeguard still takes drastic action.…”

Section: Threat Modelmentioning

confidence: 99%

“…ICAROUS [2] improves mission assurance somewhat, but its ultimate recourse at present is still Safeguard. When Safe2Ditch [5] is incorporated the vehicle will be safer, but ICAROUS cannot take over the mission if other onboard processors become erratic or unresponsive. The iterative set of solutions below strive to do that.…”

Section: Proposal Mission Assurance For Autonomous Undersea Vehicles (Ma-auv) Proposes To Extend What the Above Related Work Have Done Inmentioning

confidence: 99%

Mission Assurance for Autonomous Undersea Vehicles

Siil

Rubin

Elder

et al. 2020

2020 IEEE Security and Privacy Workshops (SPW)

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Autonomous vehicles are all but inevitable, and assurance that they will behave safely with respect to passengers, as well as bystanders incidentally exposed to them, is moving forward, albeit slowly. The state of the art often involves stopping the vehicle, perhaps after diverting it to a nearby safe place. While this is good news, it does not fully realize the benefits of autonomy. Autonomous vehicles are built for a purpose; call it a mission. Being able to perform the mission, or part of it, while experiencing faults (or cyber-attack) should be a factor in determining the vehicle's suitability for the mission. This paper explores the state of the art in achieving autonomous mission assurance in the context of autonomous undersea vehicles (AUVs). It identifies gaps in the literature and proposes a novel plan to address certain gaps.

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Safe2Ditch: Emergency Landing for Small Unmanned Aircraft Systems

Cited by 18 publications

References 12 publications

Online decision making and path planning framework for safe operation of unmanned aerial vehicles in urban scenarios

Online decision making and path planning framework for safe operation of unmanned aerial vehicles in urban scenarios

Optimized Design of Embedded Air Coil for Small Satellites with Various Dimensions

Mission Assurance for Autonomous Undersea Vehicles

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