%0 Journal Article
%T Risk-sensitive motion planning for MAVs based on mission-related fault-tolerant analysis
%A Adnan Tahirovic
%A Ivan Petrovic
%A Nedim Osmic
%J Automatika
%D 2020
%R https://doi.org/10.1080/00051144.2020.1733324
%X ABSTRACT Multirotor Aerial Vehicles may be fault-tolerant by design when rotor-failure is possible to measure or identify, especially when a large number of rotors are used. For instance, an octocopter can be capable to complete some missions even when a double-rotor fault occurs during the execution. In this paper, we study how a rotor-failure reduces the vehicle control admissible set and its importance with respect to the selected mission, i.e. we perform mission-related fault-tolerant analysis. Furthermore, we propose a risk-sensitive motion-planning algorithm capable to take into account the risks during the planning stage by means of mission-related fault-tolerant analysis. We show that the proposed approach is much less conservative in terms of selected performance measures than a conservative risk planner that assumes that the considered fault will certainly occur during the mission execution. As expected, the proposed risk-sensitive motion planner is also readier for accepting failures during the mission execution than the risk-insensitive approach that assumes no failure will occur
%U https://www.tandfonline.com/doi/full/10.1080/00051144.2020.1733324