2026-09-23T01:21:56Z https://www.ideals.illinois.edu/oai-pmh

oai:www.ideals.illinois.edu:2142/124610 2026-01-14 col_2142_5131 col_2142_14787 com_2142_5130 com_2142_9630 com_2142_234

Hovakimyan, Naira 2024-05 application/pdf en text Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2026-05-01 The student, Yang Zhao, accepted the attached license on 2024-05-02 at 12:58. The student, Yang Zhao, submitted this Thesis for approval on 2024-05-02 at 13:27. This Thesis was approved for publication on 2024-05-02 at 16:18. DSpace SAF Submission Ingestion Package generated from Vireo submission #20760 on 2024-09-16 at 00:45:05 Synergistic perception and control simplex for verifiable safe vertical landing Zhao, Yang 2024-05-02 Vertical Take-off And Landing Air Taxi Adaptive Control Safe Driving Framework Autonomous driving systems play an essential role in modern robotic systems. However, advanced machine learning-based perception and control algorithms may fail to avoid collisions occasionally. In this thesis, we integrate and evaluate a holistic safety driving system. Our work and evaluation mainly focus on an air taxi system, a prospective future commute tool that will significantly enhance efficiency and air mobility. The innovative safety driving framework contains verifiable algorithms. We adopt the Perception Simplex system for reliable obstacle detection to avoid collisions. In addition, we integrate L1 adaptive control to improve the system’s robustness. To further reduce the landing time and enhance efficiency, we update the safety envelope by considering real-time dynamic confirmation of the control capability instead of the static worst-case control capability. This work demonstrates the success and reliability of the safety driving framework, which can significantly improve landing efficiency while ensuring safety and robustness. This framework can also be integrated into other autonomous systems to improve safety in many fields further. Text eng https://hdl.handle.net/2142/124610 Copyright 2024 Yang Zhao M.S. Thesis Mechanical Engineering University of Illinois at Urbana-Champaign Mechanical Sci & Engineering