A Hierarchical Hybrid State System Based Controller Design Approach for an Autonomous UAS Mission

Hejase, Mohammad; Oğuz, Abdullah Ersan; Kurt, Arda; Özgüner, Ü.; Redmill, Keith

doi:10.2514/6.2016-3294

Cited by 7 publications

(3 citation statements)

References 15 publications

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“…It is also commonly used for modelling control processes in aeronautics and aviation. For example, Turner et al (2008) mention several FSM-based spacecraft autonomy systems, whereas Rabbath (2013) and Hejase et al (2016) apply FSMs to design the controllers of an unmanned aircraft system. In 2013 a vehicle management system using finite state machines was patented (US patent no.…”

Section: State Of the Artmentioning

confidence: 99%

A hierarchy of finite state machines as a scenario player in interactive training of pilots in flight simulators

Bach

Werner

Mrozik

et al. 2021

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The paper presents the concept of a control unit, i.e., a scenario player, for interactive training pilots in flight simulators. This scenario player is modelled as a hierarchy of finite state machines. Such an approach makes it possible to separate the details of an augmented reality display device which is used in training, from the core module of the system, responsible for contextual organization of the content. Therefore, the first contribution of this paper is the mathematical model of the scenario player as a universal formulation of the self-trained control unit for interactive learning systems, which is applicable in a variety of situations not limited solely to flight simulator related procedures. The second contribution is an experimental verification achieved by extensive simulations of the model, which proves that the proposed approach is capable to properly self-organize details of the context information by tracing preferences of the end users. For that latter purpose, the original algorithm is derived from statistical analysis, including Bayesian inference. The whole approach is illustrated by a real application of training the preflight procedure for the captain of the Boeing 737 aircraft in a flight simulator.

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Section: State Of the Artmentioning

confidence: 99%

A hierarchy of finite state machines as a scenario player in interactive training of pilots in flight simulators

Bach

Werner

Mrozik

et al. 2021

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“…Two environments are taken into consideration, an urban environment, and a highway environment, with various phases modeled for each of the two environments. The design procedure found in [18] was used for the design and construction of the Hybrid State Control System. Low-level controllers were designed using LQR controllers to control the body rates, and a PI controller to control Euler positions and angles.…”

Section: Case Studymentioning

confidence: 99%

Identification of Risk Significant Automotive Scenarios Under Hardware Failures

Hejase

Kurt

Aldemir

et al. 2018

Electron. Proc. Theor. Comput. Sci.

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The level of autonomous functions in vehicular control systems has been on a steady rise. This rise makes it more challenging for control system engineers to ensure a high level of safety, especially against unexpected failures such as stochastic hardware failures. A generic Backtracking Process Algorithm (BPA) based on a deductive implementation of the Markov/Cell-to-Cell Mapping technique is proposed for the identification of critical scenarios leading to the violation of safety goals. A discretized state-space representation of the system allows tracing of fault propagation throughout the system, and the quantification of probabilistic system evolution in time. A case study of a Hybrid State Control System for an autonomous vehicle prone to a brake-by-wire failure is constructed. The hazard of interest is collision with a stationary vehicle. The BPA is implemented to identify the risk significant scenarios leading to the hazard of interest.

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“…FSMs can be grouped into a hierarchical FSM; they have been used to design autopilots for unmanned aerial vehicles. 6 In this paper a Hierarchical Finite State machine is implemented for a search and track mission. More specifically SMACH, a python based FSM has been integrated to facilitate search and track.…”

Section: Introductionmentioning

confidence: 99%

An Integrated System for Autonomous Search and Track with a small Unmanned Aerial Vehicle

Chakrabarty

Morris

Bouyssounouse

et al. 2017

AIAA Information Systems-Aiaa Infotech @ Aerospace

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This article presents a framework for searching, detecting, and tracking an object of interest with a small unmanned aerial vehicle (sUAV). The vehicle is given an area to search for an object of interest. Once the object is detected, the sUAV follows the target while maintaining a fixed distance and centered on its image plane. This paper describes an architecture for integrating autonomy capabilities for search and track for sUAVs. The system has been implemented in the Robot Operating System (ROS) framework using the Parrot ARDrone platform. In this paper we present our technical approach, the system architecture and demonstrate the principles of the approach in a simulation environment and indoor flight tests.

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A Hierarchical Hybrid State System Based Controller Design Approach for an Autonomous UAS Mission

Cited by 7 publications

References 15 publications

A hierarchy of finite state machines as a scenario player in interactive training of pilots in flight simulators

A hierarchy of finite state machines as a scenario player in interactive training of pilots in flight simulators

Identification of Risk Significant Automotive Scenarios Under Hardware Failures

An Integrated System for Autonomous Search and Track with a small Unmanned Aerial Vehicle

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