Towards a Resilient Framework for Multirotor UAVs: Autonomous Adaptation to Failures and Disturbances

Unmanned Aerial Vehicles (UAVs) are highly versatile platforms capable of taking on a wide range of tasks, including those traditionally handled by manned aircraft. While they offer significant potential to benefit various sectors, safety concerns continue to limit their use in sensitive or high-risk environments. This work introduces the design of a resilient system for a multirotor UAV, structured around four key components: path planning, control, diagnostics and prognostics, and mission management. By integrating these stages, the UAV safely carries out planned missions and, when necessary, adapts its behavior to minimize risks to itself and its surroundings. The system’s performance is assessed through simulation, showing its effectiveness in managing scenarios such as rotor failures and wind disturbances.