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This paper presents a nonlinear adaptive fault-tolerant control algorithm for accommodating actuator faults in quadrotor UAVs and an online controller integrity method for assuring safety of adaptive control system in the presence of controller software faults. The actuator faults considered in this paper are modeled as partial losses of effectiveness in one of the rotors. Using adaptive backstepping...
To simplify the usage of the Unmanned Aerial Systems (UAS), extending their use to a great number of applications, fully autonomous operation is needed. There are many open-source architecture frameworks for UAS that claim the autonomous operation of UAS, but they still have two main open issues: (1) level of autonomy, being in most of the cases limited and (2) versatility, being most of them designed...
Despite being unmatched on the battlefield or at home, low-cost, asymmetric threats have proven dangerous for U.S. military forces and homeland security. The proliferation of improvised explosive devices of all types in the Iraqi and Afghan theaters has demonstrated that inexpensive, commercial off-the-shelf technology and some electronics knowledge can be combined to significantly impact high-tech...
Given the proliferation of Unmanned Aerial Systems (UASs) for military and commercial purposes, there is a fast-approaching need for comprehensive and robust systems which secure the UAS for public safety and assurance of military goals. This paper puts forth a comprehensive system of protecting UASs against hardware and software attacks, at the lowest and highest semantic levels. This approach monitors...
Safety and reliability are key if unmanned aerial systems (UAS) are to move from research and become an everyday part of our lives. How can safety and reliability be maintained when cost and timeliness are such pressing factors in small UAS development? In this paper, it is shown that with open-source flight control software (provided by the authors), sophisticated testing practices (hardware-in-the-loop)...
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