New Developments on Sense-And-Avoid (S&A), Distributed Fault Diagnosis (DFD), Fault-Tolerant Control (FTC) and Fault-Tolerant Cooperative Control (FTCC) Techniques for Unmanned Systems


Unmanned Systems (USs) including Unmanned Aerial Vehicles or Unmanned Aircraft Systems (UAVs or UAS), Unmanned Ground Vehicles (UGVs), and Unmanned Surface/Underwater Vehicles (USVs/UUVs) have gained increased attention during the last years due to their utilization in diverse applications such as surveillance, search and rescue missions, geographic studies, military and security, etc. Sense and Avoid (S&A) is mandatory to enable UASs safe integration into airspace, while Anti-Disturbance Control (ADC), Fault-Tolerant Control (FTC) and Fault-Tolerant Cooperative Control (FTCC) techniques contribute to guaranteeing safety of unmanned systems during operation. Based on prior and ongoing research and development and experience gained at each presenter from five countries from Europe, Canada, and China, this tutorial workshop will present state-of-the-art techniques in S&A, ADC, Distributed Fault Diagnosis (DFD), FTC for single vehicle, as well as FTCC for multiple vehicles with applications to forest fire/environment monitoring and detection, search and rescue, with different types of unmanned systems including UAVs, UGVs, and USVs by combing with remote sensing techniques. An overview of past, current, and future research activities and research outcomes on S&A, ADC, DFD, FTC, and FTCC and their applications to quadrotor rotary, fixed-wing, and hybrid UAVs will be presented. Linear and nonlinear techniques for modeling, ADC, fault diagnosis, FTC, path and trajectory planning/re-planning, cooperative/formation flight guidance, navigation, and control, based on a quadrotor helicopter UAV and fixed-wing UAV test beds at presenters’ Labs, will be discussed with some latest results based also on multi-agent system approach and under cyber-physical systems framework. A review of developed vision-based automated forest fire/environment monitoring and detection systems using UAVs combining imaging processing techniques with deep learning methodologies etc. and the key issues towards practical and reliable applications of UAVs will also be presented.

Date: Friday, June 10, 2022

Organizer:  Prof. Youmin Zhang, Concordia University, Canada.


  • Prof. Youmin Zhang, Concordia University, Canada.
  • Prof. Didier Theilliol, University of Lorraine, France.
  • Prof. Marios M. Polycarpou, University of Cyprus, Cyprus.
  • Prof. Panayiotis Kolios, KIOS Research and Innovation Center of Excellence, Cyprus.
  • Dr. Pedro Castillo, Université de Technologie de Compiègne, France.
  • Prof. Andrea Monteriu, Università Politecnica delle Marche, Italy.
  • Prof. Xiang Yu, Beihang University, China.
  • Prof. Ban Wang, Northwestern Polytechnical University, China.
  • Prof. Ziquan Yu, Nanjing University of Aeronautics and Astronautics, China.
Workshop Program

Session I

14:20 – 14:35: Introduction to the Workshop: Motivation, Concept, History, Existing and Future Developments – Prof. Youmin Zhang.

14:35 – 14:50: Model-based Fault-Tolerant Control for Multi-rotor Unmanned Vehicles – Prof. Andrea Monteriu.

14:50 – 15:05: Fault Control Scheme for VTOL Aircrafts: Some Experimental Validation – Dr. Pedro Castillo.

15:05 – 15:20: Developments on ADC, FDD, FTC and FTCC with Applications to Fixed-wing and Quadrotor UAVs Testbeds – Prof. Xiang Yu, Prof. Youmin Zhang.

15:20 – 15:35: Design of FTC Methods Based on Reliability – Prof. Didier Theilliol, Prof. Youmin Zhang.

15:35 – 15:50: Towards Reliable Fault-Tolerant Control of VTOL UAVs – Prof. Ban Wang, Prof. Youmin Zhang.

15:50 – 16:05: Distributed Fault Diagnosis of UAVs – Prof. Marios M. Polycarpou.

16:05 – 16:20: Multi-agent System Architectures for Joint Decision and Control of Drone Swarms – Prof. Marios M. Polycarpou, Prof. Panayiotis Kolios.

16:20 – 16:45: Coffee Break

Session II

– 16:45 – 17:00: Overview and New Developments on UAV Sense and Avoid (S&A) Techniques – Prof. Xiang Yu, Prof. Youmin Zhang.

17:00 – 17:15: Overview and New Developments on Remote Sensing and Computer Vision Technologies towards Forest Fire MonitoringApplications UAVs – Prof. Youmin Zhang.

17:15 – 17:30: FTCC of Multiple UAVs in the Presence of Actuator Faults with Application to Cooperative Monitoring of Forest Fires – Prof. Ziquan Yu, Prof. Youmin Zhang.

17:30 – 18:00: Summary, Discussion, and Feedback.