Formal methods have been deployed with great success to validate zero-fault tolerant systems such as hardware chips, real-time operating systems (RTOSs). Another feasible application area for formal techniques is in the modelling and verification of cooperative unmanned aerial vehicle (UAV) teams. The rationale being, multi-UAV coordination for cooperative control is a time-critical, zero-fault tolerant activity involving dynamic planning and real-time decision making. This provides sufficient incentive for designers to prove that the proposed system architecture works as advertised. In this paper, a simulation scenario involving multiple UAVs for co-ordinated arrival at a specified target using Dubins' curves, is modelled using the Kripke models of "possible worlds". This formal model is then subjected to a proof verification technique known as model checking, for verifying the safety, reachability, etc. This novel framework is sophisticated enough to be reusable, and consequently, be able to address scalability issues.
Formal techniques for the modelling and validation of a co-operating UAV team that uses Dubins set for path planning
American Control Conference, 2005 ; 4690-4695
2005
6 Seiten, 21 Quellen
Aufsatz (Konferenz)
Englisch
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