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Memorias de investigación
Ponencias en congresos:
Lift Failure Detection and Management System for Quadrotors
Año:2013
Áreas de investigación
  • Automática
Datos
Descripción
In the last decade, the use of small autonomous unmanned aerial vehicles (UAVs) has been generalized. Specially, multirotor vehicles become really popular and are being employed in several different applications and fields: military missions, agricultural processes, rescue and surveillance operations, audiovisual productions.. and even have arrived to the public at large. This entertainment approach has set some challenges still unresolved: among them, the safety of these systems. The work presented in this paper is framed in this challenge, focusing on the multirotors systems behaviour when facing a lift problem. It has been tried to detect and manage emergency situations, being the goal to minimize as much as possible the potential damages. It started from a deep study of the main malfunctions or breakdowns affecting to the drone?s lift. This study flowed into the design and develop of a model-based algorithm able to detect this events in a fast and robust way. This failure monitor allows to effectively apply control techniques to compensate (if it is possible) the breakdown?s effects and to use passive safety methods (e.g. parachutes) to minimize the potential damages derived from a fall. The system and techniques developed in this work were tested both in simulation and in real experiments, proving they suppose and increment in the operation?s safeness (i.e. both the own drone and the third party agents, safety methods).
Internacional
Si
Nombre congreso
Advances in Intelligent Systems and Computing
Tipo de participación
960
Lugar del congreso
Revisores
No
ISBN o ISSN
978-3-319-03412-6
DOI
10.1007/978-3-319-03413-3_8
Fecha inicio congreso
28/11/2013
Fecha fin congreso
29/11/2013
Desde la página
103
Hasta la página
114
Título de las actas
ROBOT2013: First Iberian Robotics Conference. Advances in Robotics, Vol. 1
Esta actividad pertenece a memorias de investigación
Participantes
  • Autor: Juan Jesus Roldan (CAR (UPM-CSIC))
  • Autor: David Sanz Muñoz (UPM)
  • Autor: Jaime del Cerro Giner (UPM)
  • Autor: Antonio Barrientos Cruz (UPM)
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Grupo de Investigación: Robótica y Cibernética
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
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