- Title
- On evaluation of robust autonomy of uninhabited vehicles and systems
- Creator
- Perez, Tristan; Donaire, Alejandro; Williams, Brendan P.
- Relation
- 7th IFAC Symposium on Intelligent Autonomous Vehicles. Proceedings of the 7th IFAC Symposium on Intelligent Autonomous Vehicles (Lecce, Italy 6-8 September, 2010)
- Publisher Link
- http://dx.doi.org/10.3182/20100906-3-IT-2019.00061
- Publisher
- International Federation of Automatic Control (IFAC)
- Resource Type
- conference paper
- Date
- 2010
- Description
- This paper discusses a method to quantify robust autonomy of Uninhabited Vehicles and Systems (UVS) in aerospace, marine, or land applications. Based on mission-vehicle specific performance criteria, we define an system utility function that can be evaluated using simulation scenarios for an envelope of environmental conditions. The results of these evaluations are used to compute a figure of merit or measure for operational efectiveness (MOE). The procedure is then augmented to consider faults and the performance of mechanisms to handle these faulty operational modes. This leads to a measure of robust autonomy (MRA). The objective of the proposed figures of merit is to assist in decision making about vehicle performance and reliability at both vehicle development stage (using simulation models) and at certification stage (using hardware-in-the-loop testing). Performance indices based on dynamic and geometric tasks associated with vehicle manoeuvring problems are proposed, and an example of a two- dimensional y scenario is provided to illustrate the use of the proposed figures of merit.
- Subject
- uninhabited vehicles; performance evaluation; manoeuvring problem
- Identifier
- http://hdl.handle.net/1959.13/933678
- Identifier
- uon:11691
- Identifier
- ISBN:9783902661876
- Language
- eng
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