TY - GEN
T1 - Time to impact estimations as a measure for relaxed decision making in multi-UAV deconfliction
AU - Pierpaoli, Pietro
AU - Zanforlin, Riccardo
AU - Rahmani, Amir
N1 - Copyright:
Copyright 2013 Elsevier B.V., All rights reserved.
PY - 2013
Y1 - 2013
N2 - This work presents a decentralized scheme for conflict detection and resolution among Unmanned Aerial Systems (UAS). An estimate of the time-to-collision is provided for different possible headings of an agent. This time-to-collision is used as a measure for decision to avoid certain maneuvers which based on the performance of the agents can lead to loss of separation. In our work we consider non-uniform, non-holonomic and cooperative planar agents scenario. According to the original formulation of the Velocity Obstacle method, for any agent facing one or more opponent agents, we can define a region for the velocity vector that does not lead to a conflict. However, the simple application of this method does not provide any information on the likelihood of the conflict occurring whenever we choose a non free from collision direction. With the time-to-collision (TC) method based evaluation of the danger, we developed a relaxed decision technique that may allow an agent to safely perform an originally forbidden maneuver. Numerical simulations of this scheme have been conducted that prove the effectiveness of the proposed method and the performance enhancements resulting from it.
AB - This work presents a decentralized scheme for conflict detection and resolution among Unmanned Aerial Systems (UAS). An estimate of the time-to-collision is provided for different possible headings of an agent. This time-to-collision is used as a measure for decision to avoid certain maneuvers which based on the performance of the agents can lead to loss of separation. In our work we consider non-uniform, non-holonomic and cooperative planar agents scenario. According to the original formulation of the Velocity Obstacle method, for any agent facing one or more opponent agents, we can define a region for the velocity vector that does not lead to a conflict. However, the simple application of this method does not provide any information on the likelihood of the conflict occurring whenever we choose a non free from collision direction. With the time-to-collision (TC) method based evaluation of the danger, we developed a relaxed decision technique that may allow an agent to safely perform an originally forbidden maneuver. Numerical simulations of this scheme have been conducted that prove the effectiveness of the proposed method and the performance enhancements resulting from it.
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M3 - Conference contribution
AN - SCOPUS:84883722261
SN - 9781624102240
T3 - AIAA Guidance, Navigation, and Control (GNC) Conference
BT - AIAA Guidance, Navigation, and Control (GNC) Conference
T2 - AIAA Guidance, Navigation, and Control (GNC) Conference
Y2 - 19 August 2013 through 22 August 2013
ER -