用视觉标记与安全分析结合，提升垂直起降无人机起降安全性
Integrating Vision Systems and STPA for Robust Landing and Take-Off in VTOL Aircraft
- 融合视觉识别与系统安全分析，构建起降控制框架
- 通过AprilTags标记定位，识别并规避不安全控制动作
- 适合无人机安全系统设计者和自动驾驶研发人员
垂直起降（VTOL）无人飞行器在监控、搜救和城市空中交通等场景中应用广泛。然而，在不确定动态环境中，起降阶段面临环境不确定性、传感器噪声及系统级交互带来的重大安全挑战。本文提出一种集成视觉感知与系统理论过程分析（STPA）的方法，以增强VTOL无人机起降时的安全性与鲁棒性。通过在控制架构中引入四角标记（如AprilTags），并开展全面危险分析，识别出不安全的控制行为，并提出相应的缓解策略。主要贡献包括：构建基于视觉系统的控制结构，实现对标识标记的识别；设计多旋翼控制器及对应的不安全控制动作与应对措施。该方案有望提升VTOL无人机操作的可靠性与安全性，推动弹性自主系统的发展。
原文摘要 · Abstract (English)
Vertical take-off and landing (VTOL) unmanned aerial vehicles (UAVs) are versatile platforms widely used in applications such as surveillance, search and rescue, and urban air mobility. Despite their potential, the critical phases of take-off and landing in uncertain and dynamic environments pose significant safety challenges due to environmental uncertainties, sensor noise, and system-level interactions. This paper presents an integrated approach combining vision-based sensor fusion with System-Theoretic Process Analysis (STPA) to enhance the safety and robustness of VTOL UAV operations during take-off and landing. By incorporating fiducial markers, such as AprilTags, into the control architecture, and performing comprehensive hazard analysis, we identify unsafe control actions and propose mitigation strategies. Key contributions include developing the control structure with vision system capable of identifying a fiducial marker, multirotor controller and corresponding unsafe control actions and mitigation strategies. The proposed solution is expected to improve the reliability and safety of VTOL UAV operations, paving the way for resilient autonomous systems.
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