Abstract
Over the last decade, Multi-UAS system (MUS) have found a variety of applications such as surveillance, data acquisition, search and rescue, and delivery tasks in various environments. However, for reliable operation of MUS, it is critical to provide safety guarantee conditions assuring obstacle collision avoidance, as well as, inter-UAS collision avoidance. In this work, we apply the principles of continuum mechanics to develop a physics-inspired algorithm to ascertain safe and resilient operation of a MUS in the presence of disturbances and unforeseen UAS failure(s). In particular, the proposed approach consists of two modes: (i) Homogeneous Deformation Mode (HDM), and (ii) Failure Resilient Mode (FRM). We formally specify transitions between HDM and FRM using Cooperative Localization (CL) approach to quantify UAS tracking error and detect anomalous conditions due to UAS failure.
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