Detection of Sensor Faults in Autonomous Helicopters

- This paper presents a sensor fault detection and diagnosis system for autonomous helicopters. The system has been tested with the MARVIN autonomous helicopter. Fault detection is accomplished by evaluating any significant change in the behaviour of the vehicle with respect to the fault-free behaviour, which is estimated by using an observer. The effectiveness of the proposed approach is demonstrated by means of MARVIN experimental results.

• Type: Conference
• Year: 2005
• Where: ICRA
• Authors: Guillermo Heredia, Aníbal Ollero, Rajesh Mahtani, Manuel Bejar, Volker Remuß, Marek Musial
• Keywords: Autonomous Helicopter, Fault Detection, ICRA 2005, Robotics, Sensor Fault Detection