通过可达性实现无人机编队的安全运行
Safe Platooning of Unmanned Aerial Vehicles via Reachability
AI总结：
本文提出基于HJ可达性的安全控制器，通过混合系统模型和允许的机动集分析，确保无人机编队在单高度范围内的安全，同时在多高度范围内应对多重安全故障。
摘要：
近年来，无人飞行器（UAVs）在民用领域如快递、灭火和快速灾害响应中的应用引起了广泛关注。为此，需要交通管理系统支持同时飞行的数千架UAVs，以确保其存活性和安全性。Hamilton-Jacobi（HJ）可达性是一种强大的框架，用于提供满足这些要求的条件，并合成最优控制器。然而，由于维度诅咒，HJ可达性仅在车辆机动集受限时才可行。本文将编队定义为单列飞行的UAVs群体。我们将每辆车建模为具有对应于其在编队中角色的模式的混合系统，并在每个模式中指定允许的机动集以使分析可行。我们提出了几种基于HJ可达性的存活控制器，并围绕这些存活控制器包裹一个基于HJ可达性的安全控制器。对于单个高度范围，我们的方法保证了单次安全故障的安全性；在极少数情况下发生多次安全故障时，安全性可在多个高度范围内得到保障。我们通过三个常见场景的仿真展示了存活和安全性要求的满足。
英文摘要：
Recently, there has been immense interest in using unmanned aerial vehicles (UAVs) for civilian operations such as package delivery, firefighting, and fast disaster response. As a result, UAV traffic management systems are needed to support potentially thousands of UAVs flying simultaneously in the airspace, in order to ensure their liveness and safety requirements are met. Hamilton-Jacobi (HJ) reachability is a powerful framework for providing conditions under which these requirements can be met, and for synthesizing the optimal controller for meeting them. However, due to the curse of dimensionality, HJ reachability is only tractable for a small number of vehicles if their set of maneuvers is unrestricted. In this paper, we define a platoon to be a group of UAVs in a single-file formation. We model each vehicle as a hybrid system with modes corresponding to its role in the platoon, and specify the set of allowed maneuvers in each mode to make the analysis tractable. We propose several liveness controllers based on HJ reachability, and wrap a safety controller, also based on HJ reachability, around the liveness controllers. For a single altitude range, our approach guarantees safety for one safety breach; in the unlikely event of multiple safety breaches, safety can be guaranteed over multiple altitude ranges. We demonstrate the satisfaction of liveness and safety requirements through simulations of three common scenarios.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
