Publications

2021

1. A Fault-Tolerant Control Scheme for Fixed-Wing UAVs with Flight Envelope Awareness

   George Zogopoulos-Papaliakos, George C. Karras, and Kostas J. Kyriakopoulos

   Journal of Intelligent & Robotic Systems, Jun 2021

   DOI

2020

1. A Flight Envelope Determination and Protection System for Fixed-Wing UAVs

   Georgios Zogopoulos-Papaliakos , and Kostas J Kyriakopoulos

   In 2020 IEEE International Conference on Robotics and Automation (ICRA), May 2020

   DOI
2. A Fault-Tolerant Control Scheme for Fixed-Wing UAVs with Flight Envelope Integration

   Georgios Zogopoulos-Papaliakos, George C. Karras, and Kostas J. Kyriakopoulos

   In 2020 International Conference on Unmanned Aircraft Systems (ICUAS), Sep 2020

   Abs DOI

   \copyright 2020 IEEE. Fault-tolerant control is currently the most important step towards increased autonomy for Unmanned Aerial Vehicles (UAVs). In this work, we consider actuator and airframe faults in fixed-wing UAVs and show that an online Flight Envelope (FE) calculation can interpret their effect on the achievable trim trajectories. Subsequently, we design a fully integrated control scheme with a RRT-based planner and 3 Nonlinear Model Predictive Control (MPC) layers. The FE is provided at each control layer with the beneficial result that non-trimmable, unstable trajectories are avoided. Results from high-fidelity simulations are provided.

2019

1. Parity-Based Diagnosis in UAVs: Detectability and Robustness Analyses

   Georgios Zogopoulos-Papaliakos , and Kostas J Kyriakopoulos

   In 2019 International Conference on Robotics and Automation (ICRA), May 2019

   DOI
2. A Fault Diagnosis Framework for MAVLink-Enabled UAVs Using Structural Analysis

   Georgios Zogopoulos-Papaliakos, Michalis Logothetis , and Kostas J Kyriakopoulos

   In 2019 International Conference on Robotics and Automation (ICRA), May 2019

   DOI
3. An Efficient Approach for Graph-Based Fault Diagnosis in UAVs

   Georgios Zogopoulos-Papaliakos, and Kostas J. Kyriakopoulos

   Journal of Intelligent and Robotic Systems: Theory and Applications, Jul 2019

   Abs DOI

   \copyright 2019, Springer Nature B.V. In this work, we tackle the problem of systematic population of a bank of residual generators for model-based fault diagnosis in Unmanned Aerial Vehicles (UAVs). Intended for detailed, large and non-linear system models, Structural Analysis (SA) is applied to produce a graph-based abstraction of the problem in the form of a bipartite graph. The Branch and Bound Integer Linear Programming (BBILP) algorithm is employed, properly adapted to seek a solution for the constrained graph matching problem. Appropriate causality constraints are formulated, which link the structure of the system graph with the analytical form of the residual generators and certify that all resulting residual generators can be implemented automatically using numerical processes. An extensive performance investigation of the proposed approach is carried out, which is shown to be more efficient than other similar algorithms. Benchmarks of UAV models taken from the literature are presented and a simulated response of the diagnostic system against a fault in the roll-rate sensor is showcased.

2018

1. Online Aerodynamic Model Identification on Small Fixed-Wing UAVs with Uncertain Flight Data

   Paris Vaiopoulos, Georgios Zogopoulos-Papaliakos , and Kostas J Kyriakopoulos

   In 2018 IEEE International Conference on Robotics and Automation (ICRA), May 2018

   DOI

2017

1. Generating Semi-Explicit DAEs with Structural Index 1 for Fault Diagnosis Using Structural Analysis

   Georgios Zogopoulos-Papaliakos , and Kostas J Kyriakopoulos

   In 2017 IEEE International Conference on Robotics and Automation (ICRA), May 2017

   DOI
2. Fault Diagnosis via Structural Analysis Using Branch-and-Bound ILP

   Georgios Zogopoulos-Papaliakos , and Kostas J Kyriakopoulos

   In CDC 2017 Rejected, May 2017
3. Low-Cost Air Data Instruments for Fixed-Wing UAVs Calibration and Discussion

   George Zogopoulos-Papaliakos, Paris Vaiopoulos , and Kostas J Kyriakopoulos

   May 2017

2016

1. Modeling a Fixed-Wing UAV A Collection of Equations

   George Zogopoulos-Papaliakos

   May 2016
2. On the Selection of Calculable Residual Generators for UAV Fault Diagnosis

   Georgios Zogopoulos Papaliakos , and Kostas J Kyriakopoulos

   In MED’16: The 24th Mediterranean Conference on Control and Automation, Jun 2016

   Abs DOI

   Structural Analysis is an established method for Fault Detection and Identification (FDI) in large-scale systems, enabling the discovery of Analytical Redundancy Relations (ARRs) which serve as residual generators. However, most techniques used to enumerate ARRs do not specify the matching used to calculate each of those ARRs. This can result in non- implementable or unusable residual generators, in the presence of non-invertibilities in the equations involved or in lack of computational tools. In this paper, we propose a methodology which combines a priori and a posteriori information in order to reduce the time required to find implementable, usable residual generators of minimum cost. The method is applied to a fixed- wing Unmanned Aerial Vehicle (UAV) model.

2014

1. 8mm Pitot-static Tube , ESP Series Installation and Maintenance Manual

   Jose Larragueta, and George Zogopoulos-Papaliakos

   Jun 2014