CVaR-based Flight Energy Risk Assessment for Multirotor UAVs using a Deep Energy Model

05/31/2021
by   Arnav Choudhry, et al.
0

Energy management is a critical aspect of risk assessment for Uncrewed Aerial Vehicle (UAV) flights, as a depleted battery during a flight brings almost guaranteed vehicle damage and a high risk of human injuries or property damage. Predicting the amount of energy a flight will consume is challenging as routing, weather, obstacles, and other factors affect the overall consumption. We develop a deep energy model for a UAV that uses Temporal Convolutional Networks to capture the time varying features while incorporating static contextual information. Our energy model is trained on a real world dataset and does not require segregating flights into regimes. We illustrate an improvement in power predictions by 29% on test flights when compared to a state-of-the-art analytical method. Using the energy model, we can predict the energy usage for a given trajectory and evaluate the risk of running out of battery during flight. We propose using Conditional Value-at-Risk (CVaR) as a metric for quantifying this risk. We show that CVaR captures the risk associated with worst-case energy consumption on a nominal path by transforming the output distribution of Monte Carlo forward simulations into a risk space. Computing the CVaR on the risk-space distribution provides a metric that can evaluate the overall risk of a flight before take-off. Our energy model and risk evaluation method can improve flight safety and evaluate the coverage area from a proposed takeoff location. The video and codebase are available at https://youtu.be/PHXGigqilOA and https://git.io/cvar-risk .

READ FULL TEXT

page 1

page 3

page 5

page 6

research
08/09/2023

E3-UAV: An Edge-based Energy-Efficient Object Detection System for Unmanned Aerial Vehicles

Motivated by the advances in deep learning techniques, the application o...
research
11/08/2020

The NederDrone: A hybrid lift, hybrid energy hydrogen UAV

A lot of UAV applications require vertical take-off and landing (VTOL) c...
research
03/09/2020

Staging energy sources to extend flight time of a multirotor UAV

Energy sources such as batteries do not decrease in mass after consumpti...
research
03/30/2023

Q-learning Based System for Path Planning with UAV Swarms in Obstacle Environments

Path Planning methods for autonomous control of Unmanned Aerial Vehicle ...
research
07/05/2021

Third Party Risk Modelling and Assessment for Safe UAV Path Planning in Metropolitan Environments

Various applications of advanced air mobility (AAM) in urban environment...
research
09/01/2022

Energy-Efficient Trajectory Design of a Multi-IRS Assisted Portable Access Point

In this work, we propose a framework for energy-efficient trajectory des...
research
10/07/2021

Adaptive Safety Margin Estimation for Safe Real-Time Replanning under Time-Varying Disturbance

Safe navigation in real-time is challenging because engineers need to wo...

Please sign up or login with your details

Forgot password? Click here to reset