VTOL機の離着陸を堅牢化する視覚システムとSTPAの統合
Integrating Vision Systems and STPA for Robust Landing and Take-Off in VTOL Aircraft
VTOL無人航空機の離着陸にAprilTagなどの視覚マーカーとSTPAによる危険分析を組み合わせ、不安全な制御行動を特定して安全対策を提案した論文。
著者: Sandeep Banik, Jinrae Kim, Naira Hovakimyan, Luca Carlone, John P. Thomas, Nancy G. Leveson
分類: cs.RO, cs.ET
原文アブストラクト
Vertical take-off and landing (VTOL) unmanned aerial vehicles (UAVs) are versatile platforms widely used in applications such as surveillance, search and rescue, and urban air mobility. Despite their potential, the critical phases of take-off and landing in uncertain and dynamic environments pose significant safety challenges due to environmental uncertainties, sensor noise, and system-level interactions. This paper presents an integrated approach combining vision-based sensor fusion with System-Theoretic Process Analysis (STPA) to enhance the safety and robustness of VTOL UAV operations during take-off and landing. By incorporating fiducial markers, such as AprilTags, into the control architecture, and performing comprehensive hazard analysis, we identify unsafe control actions and propose mitigation strategies. Key contributions include developing the control structure with vision system capable of identifying a fiducial marker, multirotor controller and corresponding unsafe control actions and mitigation strategies. The proposed solution is expected to improve the reliability and safety of VTOL UAV operations, paving the way for resilient autonomous systems.
