Assuring Autonomy of UAVs in Mission-critical Scenarios by Performability Modeling and Analysis

Author:

Andrade Ermeson1,Machida Fumio2

Affiliation:

1. Federal Rural University of Pernambuco, Brazil

2. University of Tsukuba, Japan

Abstract

Uncrewed Aerial Vehicles (UAVs) have been used in mission-critical scenarios such as Search and Rescue (SAR) missions. In such a mission-critical scenario, flight autonomy is a key performance metric that quantifies how long the UAV can continue the flight with a given battery charge. In a UAV running multiple software applications, flight autonomy can also be impacted by faulty application processes that excessively consume energy. In this paper, we propose FA-Assure (Fight Autonomy assurance) as a framework to assure the autonomy of a UAV considering faulty application processes through performability modeling and analysis. The framework employs hierarchically-configured stochastic Petri nets (SPNs), evaluates the performability-related metrics, and guides the design of mitigation strategies to improve autonomy. We consider a SAR mission as a case study and evaluate the feasibility of the framework through extensive numerical experiments. The numerical results quantitatively show how autonomy is enhanced by offloading and restarting faulty application processes.

Publisher

Association for Computing Machinery (ACM)

Subject

Artificial Intelligence,Control and Optimization,Computer Networks and Communications,Hardware and Architecture,Human-Computer Interaction

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