ASSURINGSAFETYOFVISION-BASED SWARMFORMATIONCONTROL

Koh, Yubin

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https://hdl.handle.net/2142/124840 Copy

Description

Title

ASSURINGSAFETYOFVISION-BASED SWARMFORMATIONCONTROL

Author(s)

Koh, Yubin

Issue Date

2023-05-01

Keyword(s)

distributed consensus; vision-based formation control; safety assurance

Abstract

Vision-based formation control systems recently have attracted attention from both the research community and the industry for their applicability in GPSdenied environments. The safety assurance for such systems is challenging due to the lack of formal specifications for computer vision systems and the complex impact of imprecise estimations on distributed control. We propose two techniques for safety assurance of vision-based formation control: (1) the construction of a piecewise approximation of the worst-case error of perception and (2) a convergence analysis of the consensus control algorithm. We construct the piecewise approximation for varying perception errors under different environments and weather conditions. We further provide analysis on the convergence rate of our consensus control algorithm to reach the equilibrium state, which guarantees safe separation of all drones. In the future, we hope to combine these two techniques and guarantee safe separation of all drones when perception errors are introduced to the formation control system.

Type of Resource

text

Language

eng

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