Reachability calculations for vehicle safety during manned/unmanned vehicle interaction

Jerry Ding, Jonathan Sprinkle, Claire J. Tomlin, S. Shankar Sastry, James L. Paunicka

Research output: Contribution to journalArticle

16 Citations (Scopus)

Abstract

This paper describes an approach based on reachability calculations for ensuring robust operation guarantees in flight maneuver sequences performed by unmanned aerial vehicles 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 multiple unmanned aerial vehicle 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 unmanned aerial vehicle decisions that avoid unsafe scenarios while achieving mission objectives.

Original languageEnglish (US)
Pages (from-to)138-152
Number of pages15
JournalJournal of Guidance, Control, and Dynamics
Volume35
Issue number1
DOIs
StatePublished - Jan 2012

Fingerprint

unmanned vehicle
Unmanned Vehicles
pilotless aircraft
Unmanned vehicles
maneuvers
Unmanned aerial vehicles (UAV)
Reachability
safety
vehicles
Safety
Interaction
flight
formalism
Scenarios
refueling
Hamilton-Jacobi
refining
interactions
commands
Invariance

ASJC Scopus subject areas

  • Aerospace Engineering
  • Space and Planetary Science
  • Electrical and Electronic Engineering
  • Applied Mathematics
  • Control and Systems Engineering

Cite this

Reachability calculations for vehicle safety during manned/unmanned vehicle interaction. / Ding, Jerry; Sprinkle, Jonathan; Tomlin, Claire J.; Sastry, S. Shankar; Paunicka, James L.

In: Journal of Guidance, Control, and Dynamics, Vol. 35, No. 1, 01.2012, p. 138-152.

Research output: Contribution to journalArticle

Ding, Jerry ; Sprinkle, Jonathan ; Tomlin, Claire J. ; Sastry, S. Shankar ; Paunicka, James L. / Reachability calculations for vehicle safety during manned/unmanned vehicle interaction. In: Journal of Guidance, Control, and Dynamics. 2012 ; Vol. 35, No. 1. pp. 138-152.
@article{0ac0bc68846a4605b82c40559fc11b7f,
title = "Reachability calculations for vehicle safety during manned/unmanned vehicle interaction",
abstract = "This paper describes an approach based on reachability calculations for ensuring robust operation guarantees in flight maneuver sequences performed by unmanned aerial vehicles 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 multiple unmanned aerial vehicle 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 unmanned aerial vehicle decisions that avoid unsafe scenarios while achieving mission objectives.",
author = "Jerry Ding and Jonathan Sprinkle and Tomlin, {Claire J.} and Sastry, {S. Shankar} and Paunicka, {James L.}",
year = "2012",
month = "1",
doi = "10.2514/1.53706",
language = "English (US)",
volume = "35",
pages = "138--152",
journal = "Journal of Guidance, Control, and Dynamics",
issn = "0731-5090",
publisher = "American Institute of Aeronautics and Astronautics Inc. (AIAA)",
number = "1",

}

TY - JOUR

T1 - Reachability calculations for vehicle safety during manned/unmanned vehicle interaction

AU - Ding, Jerry

AU - Sprinkle, Jonathan

AU - Tomlin, Claire J.

AU - Sastry, S. Shankar

AU - Paunicka, James L.

PY - 2012/1

Y1 - 2012/1

N2 - This paper describes an approach based on reachability calculations for ensuring robust operation guarantees in flight maneuver sequences performed by unmanned aerial vehicles 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 multiple unmanned aerial vehicle 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 unmanned aerial vehicle decisions that avoid unsafe scenarios while achieving mission objectives.

AB - This paper describes an approach based on reachability calculations for ensuring robust operation guarantees in flight maneuver sequences performed by unmanned aerial vehicles 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 multiple unmanned aerial vehicle 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 unmanned aerial vehicle decisions that avoid unsafe scenarios while achieving mission objectives.

UR - http://www.scopus.com/inward/record.url?scp=84855319399&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84855319399&partnerID=8YFLogxK

U2 - 10.2514/1.53706

DO - 10.2514/1.53706

M3 - Article

AN - SCOPUS:84855319399

VL - 35

SP - 138

EP - 152

JO - Journal of Guidance, Control, and Dynamics

JF - Journal of Guidance, Control, and Dynamics

SN - 0731-5090

IS - 1

ER -