hh.sePublications
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Towards Collision Avoidance for Commodity Hardware Quadcopters with Ultrasound Localization
Department of Electronics, SP Technical Research Institute of Sweden, Borås, Sweden.ORCID iD: 0000-0003-1713-3726
Department of Electronics, SP Technical Research Institute of Sweden, Borås, Sweden.
Department of Electronics, SP Technical Research Institute of Sweden, Borås, Sweden.
Department of Electronics, SP Technical Research Institute of Sweden, Borås, Sweden.
Show others and affiliations
2015 (English)In: 2015 International Conference on Unmanned Aircraft Systems (ICUAS), [S.l.]: IEEE, 2015, p. 193-203Conference paper, Published paper (Refereed)
Abstract [en]

We present a quadcopter platform built with commodity hardware that is able to do localization in GNSS-denied areas and avoid collisions by using a novel easy-to-setup and inexpensive ultrasound-localization system. We address the challenge to accurately estimate the copter's position and not hit any obstacles, including other, moving, quadcopters. The quadcopters avoid collisions by placing contours that represent risk around static and dynamic objects and acting if the risk contours overlap with ones own comfort zone. Position and velocity information is communicated between the copters to make them aware of each other. The shape and size of the risk contours are continuously updated based on the relative speed and distance to the obstacles and the current estimated localization accuracy. Thus, the collision-avoidance system is autonomous and only interferes with human or machine control of the quadcopter if the situation is hazardous. In the development of this platform we used our own simulation system using fault-injection (sensor faults, communication faults) together with automatically-generated tests to identify problematic scenarios for which the localization and risk contour parameters had to be adjusted. In the end, we were able to run thousands of simulations without any collisions, giving us confidence that also many real quadcopters can manoeuvre collision free in space-constrained GNSS-denied areas. ©2015 IEEE.

Place, publisher, year, edition, pages
[S.l.]: IEEE, 2015. p. 193-203
Series
International Conference on Unmanned Aircraft Systems, ISSN 2373-6720
National Category
Robotics
Identifiers
URN: urn:nbn:se:hh:diva-28169DOI: 10.1109/ICUAS.2015.7152291ISI: 000388438500024Scopus ID: 2-s2.0-84941030880ISBN: 978-1-4799-6009-5 (electronic)ISBN: 978-1-4799-6010-1 (electronic)OAI: oai:DiVA.org:hh-28169DiVA, id: diva2:808245
Conference
The 2015 International Conference on Unmanned Aircraft Systems (ICUAS), Denver, Colorado, USA, June 9-12, 2015
Projects
KARYONPROWESS
Funder
EU, FP7, Seventh Framework ProgrammeKnowledge Foundation
Note

This research has been funded through the KARYON EU project (Grant agreement no: 288195), the PROWESS EU project (Grant agreement no: 317820) and through EISIGS (grants from the Knowledge Foundation).

Available from: 2015-04-27 Created: 2015-04-27 Last updated: 2018-11-22Bibliographically approved
In thesis
1. Testing Safety-Critical Systems using Fault Injection and Property-Based Testing
Open this publication in new window or tab >>Testing Safety-Critical Systems using Fault Injection and Property-Based Testing
2015 (English)Licentiate thesis, comprehensive summary (Other academic)
Abstract [en]

Testing software-intensive systems can be challenging, especially when safety requirements are involved. Property-Based Testing (PBT) is a software testing technique where properties about software are specified and thousands of test cases with a wide range of inputs are automatically generated based on these properties. PBT does not formally prove that the software fulfils its specification, but it is an efficient way to identify deviations from the specification. Safety-critical systems that must be able to deal with faults, without causing damage or injuries, are often tested using Fault Injection (FI) at several abstraction levels. The purpose of FI is to inject faults into a system in order to exercise and evaluate fault handling mechanisms. The aim of this thesis is to investigate how knowledge and techniques from the areas of FI and PBT can be used together to test functional and safety requirements simultaneously.

We have developed a FI tool named FaultCheck that enables PBT tools to use common FI-techniques directly on source code. In order to evaluate and demonstrate our approach, we have applied our tool FaultCheck together with the commercially available PBT tool QuickCheck on a simple and on a complex system. The simple system is the AUTOSAR End-to-End (E2E) library and the complex system is a quadcopter simulator that we developed ourselves. The quadcopter simulator is based on a hardware quadcopter platform that we also developed, and the fault models that we inject into the simulator using FaultCheck are derived from the hardware quadcopter platform. We were able to efficiently apply FaultCheck together with QuickCheck on both the E2E library and the quadcopter simulator, which gives us confidence that FI together with PBT can be used to test and evaluate a wide range of simple and complex safety-critical software.

Place, publisher, year, edition, pages
Halmstad: Halmstad University Press, 2015. p. 85
Series
Halmstad University Dissertations ; 13
Keywords
Fault Injection, FaultCheck, Property-Based Testing, Simulation, Fault Model, Quadcopter, E2E
National Category
Engineering and Technology
Identifiers
urn:nbn:se:hh:diva-28173 (URN)978-91-87045-29-5 (ISBN)978-91-87045-28-8 (ISBN)
Presentation
2015-05-26, Wigforssalen, House Visionen, Kristian IV:s väg 3, Halmstad, 10:15
Opponent
Supervisors
Projects
PROWESSKARYON
Funder
EU, FP7, Seventh Framework ProgrammeKnowledge Foundation
Note

This research has been funded through the PROWESS EU project (Grant agreement no: 317820), the KARYON EU project (Grant agreement no: 288195) and through EISIGS (grants from the Knowledge Foundation).

Available from: 2015-05-04 Created: 2015-04-27 Last updated: 2015-05-04Bibliographically approved
2. On the Design and Testing of Dependable Autonomous Systems
Open this publication in new window or tab >>On the Design and Testing of Dependable Autonomous Systems
2018 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

Designing software-intensive embedded systems for dependable autonomous applications is challenging. In addition to fulfilling complex functional requirements, the system must be safe under all operating conditions, even in the presence of faults. The key to achieving this is by simulating and testing the system enough, including possible faults that can be expected, to be confident that it reaches an acceptable level of performance with preserved safety. However, as the complexity of an autonomous system and its application grows, it becomes exponentially more difficult to perform exhaustive testing and explore the full state space, which makes the task a significant challenge.

Property-Based Testing (PBT) is a software testing technique where tests and input stimuli for a system are automatically generated based on specified properties of the system, and it is normally used for testing software libraries. PBT is not a formal proof that the system fulfills the specified properties, but an effective way to find deviations from them. Safety-critical systems that must be able to deal with hardware faults are often tested using Fault Injection (FI) at several abstraction levels. The purpose of FI is to inject faults into a system in order to exercise and evaluate fault handling mechanisms. In this thesis, we utilize techniques from PBT and FI, for automatically testing functional and safety requirements of autonomous system simultaneously. We have done this on both simulations of hardware, and on real-time hardware for autonomous systems. This has been done in the process of developing a quadcopter system with collision avoidance, as well as when developing a self-driving model car. With this work we explore how tests can be auto-generated with techniques from PBT and FI, and how this approach can be used at several abstraction levels during the development of these systems. We also explore which details and design choices have to be considered while developing our simulators and embedded software, to ease testing with our proposed methods.

Place, publisher, year, edition, pages
Halmstad: Halmstad University Press, 2018. p. 171
Series
Halmstad University Dissertations ; 52
National Category
Computer Engineering
Identifiers
urn:nbn:se:hh:diva-38403 (URN)978-91-88749-10-9 (ISBN)978-91-88749-11-6 (ISBN)
Public defence
2018-12-19, Wigforssalen, Visionen, Kristian IV:s väg 3, Halmstad, 13:15 (English)
Opponent
Supervisors
Available from: 2018-11-26 Created: 2018-11-22 Last updated: 2019-04-25Bibliographically approved

Open Access in DiVA

fulltext(3637 kB)184 downloads
File information
File name FULLTEXT01.pdfFile size 3637 kBChecksum SHA-512
659af228e9f188e2e470fdbe8af039e18223a52b144379ba2aa84c67aa9c80880b3ac29fc1e65943c128aa3ed3545843d8c02749c78090c3c15ca0abee826fb7
Type fulltextMimetype application/pdf

Other links

Publisher's full textScopus

Authority records BETA

Vedder, BenjaminJonsson, Magnus

Search in DiVA

By author/editor
Vedder, BenjaminJonsson, Magnus
By organisation
Centre for Research on Embedded Systems (CERES)
Robotics

Search outside of DiVA

GoogleGoogle Scholar
Total: 184 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

doi
isbn
urn-nbn

Altmetric score

doi
isbn
urn-nbn
Total: 350 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf