Graduate Thesis Or Dissertation
 

Fair Trajectory Planning of Autonomous Systems

Public Deposited

Downloadable Content

Download PDF
https://ir.library.oregonstate.edu/concern/graduate_thesis_or_dissertations/2227mx21t

Descriptions

Attribute NameValues
Creator
Abstract
  • Current research into path planning for Unmanned Aerial Vehicles (UAVs) has placed a major focus on accomplishing the goals of various agents while avoiding collisions between each other. However, there has been little focus on whether the planned trajectories are fair for each agent. This work provides an answer to the question: how can we judge the fairness of a set of UAV trajectories through a common airspace while achieving their various missions? We provide three different but related definitions for fairness, including one that allows an imbalance of fairness that is negotiated beforehand. We provide an implementation we call FairFly to plan an optimally fair trajectory for every UAV, subject to mission satisfaction. This solution allows any finite time missions to be described in Signal Temporal Logic, and then solves offline for an efficient, dynamically feasible, robust, and fair set of trajectories that accomplish each agent's mission. FairFly is shown to reduce overall energy consumption from UAVs by reducing the total distance flown between all agents, and results in a lighter computational load during the online portion of planning.
License
Resource Type
Date Issued
Degree Level
Degree Name
Degree Field
Degree Grantor
Commencement Year
Advisor
Committee Member
Academic Affiliation
Rights Statement
Publisher
Peer Reviewed
Language

Relationships

Parents:

This work has no parents.

In Collection:

Items

Thumbnail Title Date Uploaded Visibility Actions
file details KurtzConnorR2021.pdf 2021-06-09 Public Download