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Even though multi-rotor aircrafts are becoming more and more prevalent in the fields of aerial photography, agricultural spraying, disaster searching and rescuing, how to achieve higher reliability and robustness of an aircraft still poses a big challenge. It is not a rare case that a multi-rotor aircraft is severely damaged or crushed when an actuator or sensor is malfunctioned. This paper aims at the resilience of an aircraft when a rotor is malfunctioned.

The reliability of a multi-rotor aircraft can be measured in terms of stability, robustness, resilience and fault tolerance. All of these four aspects are taken into consideration to improve overall reliability of aircrafts. When a rotor malfunction occurs, the control algorithm is cable of adjusting the operation conditions of the rest of rotors to achieve system stability.

In this paper, the authors first present a research topic on the development of a resilient multi-robot aircraft. A multi-rotor aircraft usually possesses more actuated motions than the required degrees of freedom.

The authors proposed to equip the multi-rotor aircraft with malfunction detecting sensors, and they developed the self-repairing algorithm to re-stabilize the aircraft when a malfunction of a rotor occurs. The design concept and methods were implemented on an eight-rotor aircraft, and the performance of the proposed instrumentation and self-repairing algorithm have been verified and validated.

This study aims to construct a Weber point-based model to complete the visualization of preference aggregation in group decision-making problem, in which decision-makers are associated with trust relationship.

This study mainly comprises four parts: trust propagation, preference aggregation, opinion adjustment and alternative selection. Firstly, the incomplete trust between decision-makers is completed with trust transfer operators and propagation probability in trust propagation process. Secondly, a preference aggregation model based on Weber point is proposed to aggregate the group preference visually. Thirdly, opinions are adjusted to reach a consensus. Finally, the ranking of alternatives is determined by the correlation coefficient with the group preference as a reference.

The Weber point-based model proposed in this study can minimize the gap in the preference of alternatives between the group and all decision-makers, and realize the visualization of aggregation result. A case of plan selection is introduced to illustrate the feasibility and effectiveness of the proposed model.

By comparing the result with the weighted average-based preference aggregation method, the Weber point-based model proposed in this study can show the result of preference aggregation intuitively and improve group consensus.