Surveillance Planning with Safe Emergency Landing Guarantee for Fixed-wing Aircraft

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F20%3A00342715" target="_blank" >RIV/68407700:21230/20:00342715 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.1016/j.robot.2020.103644" target="_blank" >https://doi.org/10.1016/j.robot.2020.103644</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1016/j.robot.2020.103644" target="_blank" >10.1016/j.robot.2020.103644</a>

Result language

angličtina

Original language name

Surveillance Planning with Safe Emergency Landing Guarantee for Fixed-wing Aircraft

Original language description

In this paper, we study Emergency Landing Aware Surveillance Planning (ELASP) to determine a cost-efficient trajectory to visit a given set of target locations such that a safe emergency landing is possible at any point of the multi-goal trajectory. The problem is motivated to guarantee a safe mission plan in a case of loss of thrust for which it is desirable to have a safe gliding trajectory to a nearby airport. The problem combines computational challenges of the combinatorial multi-goal planning with demanding motion planning to determine safe landing trajectories for the curvature-constrained aerial vehicle. The crucial property of safe landing is a minimum safe altitude of the vehicle that can be found by trajectory planning to nearby airports using sampling-based motion planning such as RRT*. A trajectory is considered safe if the vehicle is at least at the minimum safe altitude at any point of the trajectory. Thus, a huge number of samples have to be evaluated to guarantee the safety of the trajectory, and an evaluation of all possible multi-goal trajectories is quickly computationally intractable. Therefore, we propose to utilize a roadmap of safe altitudes combined with the estimation of the trajectory lengths to evaluate only the most promising candidate trajectories. Based on the reported results, the proposed approach significantly reduces the computational burden and enables a solution of ELASP instances with tens of locations in units of minutes using standard single-core computational resources.

Czech name

—

Czech description

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Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

—

OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

Result was created during the realization of more than one project. More information in the Projects tab.

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2020

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Robotics and Autonomous Systems

ISSN

0921-8890

e-ISSN

1872-793X

Volume of the periodical

133

Issue of the periodical within the volume

November

Country of publishing house

NL - THE KINGDOM OF THE NETHERLANDS

Number of pages

13

Pages from-to

1-13

UT code for WoS article

000579026500011

EID of the result in the Scopus database

2-s2.0-85091332796