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Distributed UAV Loss Detection and Auto-replacement Protocol with Guaranteed Properties

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Abstract

Multi-UAV systems are becoming a true reality. They have wide applications in surveillance, search, hazardous rescue and other civil services. Currently, an important challenge is the robust control against UAV failures. In this paper, the distributed UAV loss detection and auto-replacement scheme is discussed. The basic idea is to use the cooperative method to control the multi-UAV system to accomplish the missions. This is achieved by exchanging heartbeats (HBs) and information fusion. We first use the obtained information to detect if one UAV is lost. Subsequently, an auto-replacement logic is used to send a UAV with low priority to occupy the target position or task which was assigned to the lost UAV. Next, a recovery algorithm is proposed when a newly inserted UAV or a lost UAV is recovered from failures. Finally, the proposed scheme is tested by computer simulations and real experiments.

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Authors and Affiliations

  1. Temasek Laboratories, National University of Singapore, Singapore, Singapore

    Sunan Huang, Rodney Swee Huat Teo, Wenqi Liu & Siarhei Michailovich Dymkou

  2. DSO National Laboratories, Singapore, Singapore

    Jennifer Lai Pheng Kwan

Authors
  1. Sunan Huang
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  2. Rodney Swee Huat Teo
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  3. Jennifer Lai Pheng Kwan
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  4. Wenqi Liu
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  5. Siarhei Michailovich Dymkou
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Correspondence to Sunan Huang.

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Huang, S., Teo, R.S.H., Kwan, J.L.P. et al. Distributed UAV Loss Detection and Auto-replacement Protocol with Guaranteed Properties. J Intell Robot Syst 93, 303–316 (2019). https://doi.org/10.1007/s10846-018-0818-4

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  • DOI: https://doi.org/10.1007/s10846-018-0818-4

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