Reachability Calculations for Vehicle Safety During Manned/Unmanned Vehicle Interaction
Jerry Ding, Jonathan M. Sprinkle, Claire Jennifer Tomlin, Shankar Sastry, James L. Paunicka · Journal of Guidance Control and Dynamics · 2012
This paper describes an approach based on reachability calculations for ensuring robust operation guarantees in flight maneuver sequences performed by unmanned aerial vehicles (UAVs) under supervision of human operators, with applications to safety-critical scenarios. Using a hybrid system formalism to model the maneuver sequence, the paper devises systematic procedures for designing switching conditions to ensure the properties of safety, target attainability and invariance, using Hamilton-Jacobi reachability calculations. These calculations lay the foundations for refining or designing protocols for multi-UAV and/or manned vehicle interaction. The mathematical foundations necessary are described in order to formulate verification problems on reachability and safety of flight maneuvers, including issues of command latency, and disturbance. An example of this formalism is given in the context of Automated Aerial Refueling, to inform UAV decisions that avoid unsafe scenarios while achieving mission objectives. Nomenclature U control input space D disturbance input space H a hybrid automaton Q set of discrete states, enumerating potential flight modes, qi ∈ Q