000206937 001__ 206937
000206937 005__ 20190812205828.0
000206937 037__ $$aCONF
000206937 245__ $$aDistributed Deconfliction Algorithm for Unmanned Aerial Vehicles with Limited Range and Field of View Sensors
000206937 269__ $$a2015
000206937 260__ $$c2015
000206937 336__ $$aConference Papers
000206937 520__ $$aThis paper proposes a novel approach for collision avoidance between Unmanned Aerial Vehicles (UAVs) with limited range and field of view sensors. The algorithm is designed for unicycle vehicles that need to fly above a specific minimal speed to maintain flight. It uses a navigation function approach when the UAV is clear from conflict and smoothly switches to a collision avoidance maneuver when other UAVs are encountered. We show that the proposed avoidance algorithm can ensure a collision-free path. We also carry out a throughout quantitative analysis of the algorithm singularities and propose heuristic recipes for avoiding deadlock situations. Simulations are performed to show the effectiveness of the algorithm.
000206937 700__ $$0246514$$g178296$$aRoelofsen, Steven Adriaan
000206937 700__ $$0241071$$g105782$$aMartinoli, Alcherio
000206937 700__ $$aGillet, Denis$$g105245$$0241784
000206937 7112_ $$dJuly 1-3, 2015$$cChicago, IL, USA$$aAmerican Control Conference
000206937 8564_ $$zPreprint$$yPreprint$$uhttps://infoscience.epfl.ch/record/206937/files/paper_submitted_acc_2015_camera_ready.pdf$$s517852
000206937 909C0 $$xU11904$$pDISAL$$0252151
000206937 909C0 $$pREACT$$0252406$$xUS09295
000206937 909CO $$qGLOBAL_SET$$pconf$$pSTI$$pENAC$$ooai:infoscience.tind.io:206937
000206937 917Z8 $$x178296
000206937 917Z8 $$x178296
000206937 937__ $$aEPFL-CONF-206937
000206937 973__ $$rREVIEWED$$sPUBLISHED$$aEPFL
000206937 980__ $$aCONF