Contents -- Preface -- 1. Introduction -- 1.1 Unmanned Aerial Systems -- 1.2 Cooperative Control -- 1.3 Contingencies -- 1.3.1 Faults and failures of UAV components -- 1.3.2 Vehicle damage -- 1.3.3 Information flow faults -- 1.3.4 Team anomalies and collisions -- 1.3.5 Environmental effects -- 1.3.6 Book overview -- 2. Health Management for the Individual Vehicle: A Review -- 2.1 Passive and Active Fault-Tolerant Control Systems -- 2.2 Fault/Failure Detection and Diagnosis -- 2.3 Control Reconfiguration -- 2.4 FTC and FDD Techniques for MAV and SUAV -- 3. Health Monitoring and Adaptation for UAS Formations -- 3.1 Models of Vehicle Dynamics, Flight Control, and Faults -- 3.1.1 ALTAV dynamics and control -- 3.1.2 Quadrotor dynamics and control -- 3.1.3 Actuator faults -- 3.2 Formation Control -- 3.2.1 Elements of contraction theory -- 3.2.2 Simplified modeling for the purpose of formation control synthesis -- 3.2.3 Formation control objective -- 3.2.4 Closed-loop representation of the formation -- 3.2.5 Convergence analysis of state trajectories -- 3.2.6 Modeling a formation of UAVs with realistic nonlinear dynamics -- 3.2.7 Trajectory of the leader and obstacle/threat avoidance -- 3.2.8 Formation control design algorithm -- 3.3 Observer-Based Decentralized Abrupt Fault Detector -- 3.3.1 Context -- 3.3.2 Simplified model of vehicle closed-loop dynamics -- 3.3.3 Concept of observer with disturbance attenuation -- 3.3.4 Synthesis of DAFD -- 3.3.5 Threshold selection -- 3.3.6 DAFD design algorithm -- 3.4 Signal-Based Decentralized Non-Abrupt Fault Detector -- 3.4.1 Context -- 3.4.2 Networked information and coupling effects -- 3.4.3 Estimator of heading angle -- 3.4.4 Statistical test for DNaFD -- 3.4.5 DNaFD design algorithm -- 3.5 UAV Command Adaptation -- 3.6 Simulations and Experiments -- 3.6.1 Formation control of unicycles.

3.6.2 Formation control of quadrotor aircraft -- 3.6.3 DAFD and formation control of ALTAVs -- 3.6.4 DAFD and quadrotor formation control -- 3.6.5 DNaFD and formation control of ALTAVs -- 3.6.5.1 Simulations exempt from environmental effects -- 3.6.5.2 Simulations with environmental effects -- 3.6.6 Decentralized fault detection for mixed-type, concurrent actuator faults -- 3.6.7 DAFD/DNaFD in closed loop with individual vehicle FDD system -- 3.6.8 A note on the digital implementation -- 4. Decision Making and Health Management for Cooperating UAS -- 4.1 Coordinated Rendezvous of UAS Formations -- 4.1.1 Context -- 4.1.2 Related work -- 4.1.3 Multi-formations -- 4.1.4 Models -- 4.1.4.1 Cooperating UAS and urban environment -- 4.1.4.2 Measurements -- 4.1.4.3 Feasible paths -- 4.1.4.4 Communication network -- 4.1.5 UAS-threat encounters modeled as Markov decision processes -- 4.1.6 Problem formulation -- 4.1.7 Decision policies: perfect information -- 4.1.8 Decision policies: partially known environment -- 4.1.8.1 Information state estimation -- 4.1.8.2 Rollout policy -- 4.1.8.3 Computational load -- 4.1.9 Design of CHM and decision making system -- 4.1.9.1 Perfect information -- 4.1.9.2 Partially known environment -- 4.2 Cooperation Despite Information Flow Faults -- 4.2.1 Context -- 4.2.2 Impact of information ow fault on UAS decision policies -- 4.2.3 Health state estimation -- 4.2.4 Distributed computations of W0 k -- Pi -- E -- j -- 4.3 Numerical Simulations -- 4.3.1 Single target area and perfectly known environment -- 4.3.1.1 Low-level health threat -- 4.3.1.2 High-level health threat -- 4.3.2 Sequence of targets and perfect knowledge of environment -- 4.3.3 The case of perturbed MDPs -- 4.3.4 Successive zones of surveillance in partially known environment -- 4.3.5 Information flow faults.

4.4 Distributed and Parallel Implementation of Optimization Algorithms -- 4.4.1 Context -- 4.4.2 Architecture -- 4.4.3 Distributed and parallel simulation environment -- 4.4.4 Experiments -- Bibliography -- Index.