A fault diagnosis framework for MAVLink-enabled UAVs using structural analysis

Georgios Zogopoulos-Papaliakos; Michalis Logothetis; Kostas J. Kyriakopoulos

doi:10.1109/ICRA.2019.8793760

A fault diagnosis framework for MAVLink-enabled UAVs using structural analysis

Georgios Zogopoulos-Papaliakos, Michalis Logothetis, Kostas J. Kyriakopoulos

Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

MAVLink is a popular message protocol for small Unmanned Aerial Vehicles (UAVs). In this work, we present a Fault Detection and Isolation (FDI) framework for fixed-wing UAVs which takes advantage of the information conveyed in MAVLink telemetry streams and produces a bank of residual generators. Structural Analysis is employed to systematically handle the varying set of available measurements, identify the observable faults and adjust the FDI system accordingly. Structural detectability and isolability analyses are carried out. A case-study on a real-life telemetry log of a UAV crash demonstrates the efficacy of the proposed approach.

Original language	English (US)
Title of host publication	2019 International Conference on Robotics and Automation, ICRA 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	676-682
Number of pages	7
ISBN (Electronic)	9781538660263
DOIs	https://doi.org/10.1109/ICRA.2019.8793760
State	Published - May 2019
Event	2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada Duration: May 20 2019 → May 24 2019

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2019-May
ISSN (Print)	1050-4729

Conference

Conference	2019 International Conference on Robotics and Automation, ICRA 2019
Country/Territory	Canada
City	Montreal
Period	5/20/19 → 5/24/19

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ICRA.2019.8793760

Cite this

Zogopoulos-Papaliakos, G., Logothetis, M., & Kyriakopoulos, K. J. (2019). A fault diagnosis framework for MAVLink-enabled UAVs using structural analysis. In 2019 International Conference on Robotics and Automation, ICRA 2019 (pp. 676-682). Article 8793760 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2019-May). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2019.8793760

A fault diagnosis framework for MAVLink-enabled UAVs using structural analysis. / Zogopoulos-Papaliakos, Georgios; Logothetis, Michalis; Kyriakopoulos, Kostas J.
2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 676-682 8793760 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2019-May).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Zogopoulos-Papaliakos, G, Logothetis, M & Kyriakopoulos, KJ 2019, A fault diagnosis framework for MAVLink-enabled UAVs using structural analysis. in 2019 International Conference on Robotics and Automation, ICRA 2019., 8793760, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2019-May, Institute of Electrical and Electronics Engineers Inc., pp. 676-682, 2019 International Conference on Robotics and Automation, ICRA 2019, Montreal, Canada, 5/20/19. https://doi.org/10.1109/ICRA.2019.8793760

Zogopoulos-Papaliakos G, Logothetis M, Kyriakopoulos KJ. A fault diagnosis framework for MAVLink-enabled UAVs using structural analysis. In 2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 676-682. 8793760. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2019.8793760

Zogopoulos-Papaliakos, Georgios ; Logothetis, Michalis ; Kyriakopoulos, Kostas J. / A fault diagnosis framework for MAVLink-enabled UAVs using structural analysis. 2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 676-682 (Proceedings - IEEE International Conference on Robotics and Automation).

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abstract = "MAVLink is a popular message protocol for small Unmanned Aerial Vehicles (UAVs). In this work, we present a Fault Detection and Isolation (FDI) framework for fixed-wing UAVs which takes advantage of the information conveyed in MAVLink telemetry streams and produces a bank of residual generators. Structural Analysis is employed to systematically handle the varying set of available measurements, identify the observable faults and adjust the FDI system accordingly. Structural detectability and isolability analyses are carried out. A case-study on a real-life telemetry log of a UAV crash demonstrates the efficacy of the proposed approach.",

author = "Georgios Zogopoulos-Papaliakos and Michalis Logothetis and Kyriakopoulos, {Kostas J.}",

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AB - MAVLink is a popular message protocol for small Unmanned Aerial Vehicles (UAVs). In this work, we present a Fault Detection and Isolation (FDI) framework for fixed-wing UAVs which takes advantage of the information conveyed in MAVLink telemetry streams and produces a bank of residual generators. Structural Analysis is employed to systematically handle the varying set of available measurements, identify the observable faults and adjust the FDI system accordingly. Structural detectability and isolability analyses are carried out. A case-study on a real-life telemetry log of a UAV crash demonstrates the efficacy of the proposed approach.

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A fault diagnosis framework for MAVLink-enabled UAVs using structural analysis

Abstract

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