ASSURINGSAFETYOFVISION-BASED SWARMFORMATIONCONTROL

Content Files

SP23-ECE499-Thesis-Koh, Yubin.pdf

Permalink

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

Title: ASSURINGSAFETYOFVISION-BASED SWARMFORMATIONCONTROL
Author(s): Koh, Yubin
Issue Date: 2023-05-01
Keyword(s): distributed consensus; vision-based formation control; safety assurance
Date of Ingest: 2024-10-14T10:13:29-05:00
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
Genre of Resource: dissertation/thesis
Language: eng

The best of ECE undergraduate research