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A Decentralized Collision Avoidance Algorithm for Individual and Collaborative UAVs

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Bioinspired Systems for Translational Applications: From Robotics to Social Engineering (IWINAC 2024)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 14675))

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Abstract

This paper presents an innovative approach to enhance collision avoidance in a group of Unmanned Aerial Vehicles (UAVs) connected by a cable. The proposed algorithm leverages Artificial Potential Fields (APFs) to navigate UAVs through complex environments while taking into account the constraints imposed by the interconnecting cable. The article outlines the algorithm’s theoretical foundation, implementation details, and provides comprehensive simulation results to demonstrate its efficacy in an experiment. The findings contribute to advancing the field of UAV swarm coordination and collision avoidance.

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The work in this paper has been partially supported by FEDER funds for the MICIN project PID2020-116346GBI00, research funds from the Basque Government as the Grupo de Inteligencia Computacional, Universidad del Pais Vasco, UPV/EHU with code IT1689-22. Additionally, the authors participate in Elkartek projects KK-2022/00051 and KK-2021/00070. Authors have also received support by Fundacion Vitoria-Gasteiz Araba Mobility Lab.

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Authors and Affiliations

  1. Group of Computational Intelligence, Faculty of Engineering of Gipuzkoa, University of the Basque Country UPV/EHU, San Sebastian, Spain

    Julian Estevez

  2. Group of Computational Intelligence, Faculty of Engineering of Vitoria, University of the Basque Country, UPV/EHU, Vitoria, Spain

    Daniel Caballero-Martin & Jose Manuel Lopez-Guede

  3. Group of Computational Intelligence, Faculty of Computer Science, University of the Basque Country, UPV/EHU, San Sebastian, Spain

    Manuel Graña

Authors
  1. Julian Estevez
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  2. Daniel Caballero-Martin
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  3. Jose Manuel Lopez-Guede
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  4. Manuel Graña
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Corresponding author

Correspondence to Julian Estevez .

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Editors and Affiliations

  1. Universidad Politécnica de Cartagena, Cartagena, Spain

    José Manuel Ferrández Vicente

  2. Polytechnic University of Valencia, Valencia, Spain

    Mikel Val Calvo

  3. Ohio State University, Columbus, OH, USA

    Hojjat Adeli

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Estevez, J., Caballero-Martin, D., Lopez-Guede, J.M., Graña, M. (2024). A Decentralized Collision Avoidance Algorithm for Individual and Collaborative UAVs. In: Ferrández Vicente, J.M., Val Calvo, M., Adeli, H. (eds) Bioinspired Systems for Translational Applications: From Robotics to Social Engineering. IWINAC 2024. Lecture Notes in Computer Science, vol 14675. Springer, Cham. https://doi.org/10.1007/978-3-031-61137-7_2

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  • DOI: https://doi.org/10.1007/978-3-031-61137-7_2

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-61136-0

  • Online ISBN: 978-3-031-61137-7

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