Functional degradation of cyber-physical aerial system for trajectory planning and agent tracking

Abstract

With the development of cyber physical systems, new methods were initiated to overcome failures in both cyber and physical domains. Failures can be numerous since the cyber side faces real-time execution problems and bugs in the algorithms. On the other hand, the physical parts such as actuators and sensors are in direct contact with the surroundings and their performance strictly depends on changing in the circumstances. Developing methods that can overcome a combined cyber-physical failure are of great importance for the survivability of autonomous systems. This paper addresses the functional degradation of UAV as a cyber physical system during the tracking process of a mobile agent using possible combinations of AI, optical odometry and range finding technics.