Roelofsen, Steven AdriaanMartinoli, AlcherioGillet, Denis2015-03-272015-03-272015-03-27201510.1109/ACC.2015.7172014https://infoscience.epfl.ch/handle/20.500.14299/112766This 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.text::conference output::conference proceedings::conference paper