Kripke Model for the Unmanned Sample Clauses

Kripke Model for the Unmanned. Aerial Vehicle‌ We will further represent the behavior of the UAV noted by uav1 captured in an obstacle avoidance scenario. The following states will be considered in constructing the Kripke model: path-following (pf ), obstacle detection(od ), turn left(tl ) and turn right(tr ). To each state we will attach the boolean state variable uav2, which will indicate the presence or absence of another approaching UAV. In the path-following state pf , the UAV uav1 performs a waypoint following maneuver, which includes periodical turns to the left or to the right. The appearance of an obstacle (uav → T) leads to the transition of the UAV into obstacle detection state od and from there in turn right tr state as part of the obstacle avoidance maneuver, followed by a return to the initial path-following state. The initial model M0 is presented below: M0 = ⟨{od, tr, tl , pf }, {r0, r1, r2, r3, r4, r5, r6}, {(pf , {чuav2}), (od, {uav2}), (tr, {чuav2}), (tl , {чuav2})}⟩ The corresponding hybrid Kripke structure is illustrated in Figure 9. r3 r2 pf L0{чuav2} od L1{uav2} r1 r4 r5 tl L2{чuav2} tr r6 r0 L3{чuav2} Figure 9: Kripke Model for the UAV.