An optimal hybrid fault recovery for a team of unmanned vehicles

In this paper, an optimal hybrid fault recovery methodology is developed for a team of unmanned vehicles by taking advantage of the cooperative nature of the system to accomplish the desired mission requirements in the presence of faults/failures. The proposed methodology is hybrid and consists of a low-level (an agent level) and a high-level (a team level) fault recovery protocols. The high-level fault recovery is formulated in the discrete-event systems (DES) supervisory control framework, whereas the low-level fault recovery is based on classical control techniques. A reconfiguration strategy is proposed and designed so that the team is recovered from faults with the minimum cost to the team. Simulation results are provided to illustrate the effectiveness of our proposed approach.