Distributed Diagnosis of a Networked Mini-UAV

This paper describes a model-based approach for the fault detection of a mini-UAV over a wireless network. Wireless networks are preferred for the control and diagnosis of mobile autonomous systems due to their flexible architecture and roaming advantage. The major goal of this research is the development and implementation of a network strategy for real time distributed diagnosis of the flight control system of a mini-UAV. The system under investigation consists of an embedded controller area network for the onboard control and one part of diagnosis strategy. Another part of diagnosis is achieved through a low power ZigBee wireless network. This work consists of defining and evaluating the wireless loop-based diagnosis, reconfiguration and its consequences on the performance of the mini-UAV.