Publikation
Towards Probabilistic Clearance, Explanation and Optimization
Simon Kohaut; Benedict Flade; Devendra Singh Dhami; Julian Eggert; Kristian Kersting
In: Computing Research Repository eprint Journal (CoRR), Vol. abs/2406.15088, Pages 1-6, arXiv, 2024.
Zusammenfassung
Employing Unmanned Aircraft Systems (UAS) beyond
visual line of sight (BVLOS) is an endearing and challenging
task. While UAS have the potential to significantly en-
hance today’s logistics and emergency response capabilities,
unmanned flying objects above the heads of unprotected
pedestrians induce similarly significant safety risks. In this
work, we make strides towards improved safety and legal
compliance in applying UAS in two ways. First, we demon-
strate navigation within the Probabilistic Mission Design
(ProMis) framework. To this end, our approach translates
Probabilistic Mission Landscapes (PML) into a navigation
graph and derives a cost from the probability of complying
with all underlying constraints. Second, we introduce the
clearance, explanation, and optimization (CEO) cycle on top
of ProMis by leveraging the declaratively encoded domain
knowledge, legal requirements, and safety assertions to guide
the mission design process. Based on inaccurate, crowd-
sourced map data and a synthetic scenario, we illustrate the
application and utility of our methods in UAS navigation.