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Online Safety Calculations for Glideslope Recapture
Jonathan Sprinkle, Aaron Ames, J. Mikael Eklund, Ian Mitchell, Shankar Sastry

Citation
Jonathan Sprinkle, Aaron Ames, J. Mikael Eklund, Ian Mitchell, Shankar Sastry. "Online Safety Calculations for Glideslope Recapture". Innovations in Systems and Software Engineering, 1(2):157-175, September 2005; This was an invited paper, and was published without peer review.

Abstract
As unmanned aerial vehicles (UAVs) increase in popularity and usage, an appropriate increase in confidence in their behavior is expected. This research addresses a particular portion of the flight of an aircraft (whether autonomous, unmanned, or manned): specifically, the recapture of the glide slope after a wave-off maneuver during landing. While this situation is rare in commercial aircraft, its applicability toward unmanned aircraft has been limited due to the complexity of the calculations of safety of the maneuvers. In this paper, we present several control laws for this glide-slope recapture, and inferences into their convergence to the glide slope, as well as reachability calculations which show their guaranteed safety. We also present a methodology which theoretically allows us to apply these offline-computed safety data to all kinds of unmanned fixed-wing aerial vehicles while online, permitting the use of the controllers to reduce wait times during landing. Finally, we detail the live aircraft application demonstration which was done to show feasibility of the controller, and give the results of offline simulations which show the correctness of online decisions at that demonstration.

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  • HTML
    Jonathan Sprinkle, Aaron Ames, J. Mikael Eklund, Ian
    Mitchell, Shankar Sastry. <a
    href="http://chess.eecs.berkeley.edu/pubs/40.html"
    >Online Safety Calculations for Glideslope
    Recapture</a>, <i>Innovations in Systems and
    Software Engineering</i>, 1(2):157-175, September
    2005; This was an invited paper, and was published without
    peer review.
  • Plain text
    Jonathan Sprinkle, Aaron Ames, J. Mikael Eklund, Ian
    Mitchell, Shankar Sastry. "Online Safety Calculations
    for Glideslope Recapture". <i>Innovations in
    Systems and Software Engineering</i>, 1(2):157-175,
    September 2005; This was an invited paper, and was published
    without peer review.
  • BibTeX
    @article{SprinkleAmesEklundMitchellSastry05_OnlineSafetyCalculationsForGlideslopeRecapture,
        author = {Jonathan Sprinkle and Aaron Ames and J. Mikael
                  Eklund and Ian Mitchell and Shankar Sastry},
        title = {Online Safety Calculations for Glideslope Recapture},
        journal = {Innovations in Systems and Software Engineering},
        volume = {1},
        number = {2},
        pages = {157-175},
        month = {September},
        year = {2005},
        note = {This was an invited paper, and was published
                  without peer review.},
        abstract = {As unmanned aerial vehicles (UAVs) increase in
                  popularity and usage, an appropriate increase in
                  confidence in their behavior is expected. This
                  research addresses a particular portion of the
                  flight of an aircraft (whether autonomous,
                  unmanned, or manned): specifically, the recapture
                  of the glide slope after a wave-off maneuver
                  during landing. While this situation is rare in
                  commercial aircraft, its applicability toward
                  unmanned aircraft has been limited due to the
                  complexity of the calculations of safety of the
                  maneuvers. In this paper, we present several
                  control laws for this glide-slope recapture, and
                  inferences into their convergence to the glide
                  slope, as well as reachability calculations which
                  show their guaranteed safety. We also present a
                  methodology which theoretically allows us to apply
                  these offline-computed safety data to all kinds of
                  unmanned fixed-wing aerial vehicles while online,
                  permitting the use of the controllers to reduce
                  wait times during landing. Finally, we detail the
                  live aircraft application demonstration which was
                  done to show feasibility of the controller, and
                  give the results of offline simulations which show
                  the correctness of online decisions at that
                  demonstration.},
        URL = {http://chess.eecs.berkeley.edu/pubs/40.html}
    }
    

Posted by Jonathan Sprinkle on 1 May 2006.
Groups: chess chesslocal
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