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An Efficient Method for Multi-UAV Conflict Detection and Resolution Under Uncertainties

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Robot 2015: Second Iberian Robotics Conference

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 417))

Abstract

This paper presents a efficent conflict detection and resolution (CDR) method for an aerial vehicle sharing airspace with other aerial vehicles. It is based on a conflict detection (CD) algorithm (axis-aligned minimum bounding box) and conflict resoluction (CR) algorithm (genetic algorithms) to find safe trajectories. Monte-Carlo estimation is used to evaluate the best predicted trajectories considering different sources of uncertainty such as the wind, the inaccuracies in the vehicle model and limitations of on-board sensors and control system. Simulations are performed in different scenarios and conditions of wind to test the method.

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Author information

Authors and Affiliations

  1. Robotics, Vision and Control Group (University of Seville), Camino de Los Descubrimientos s/n, 41092, Seville, Spain

    David Alejo, José Antonio Cobano, G. Heredia & A. Ollero

Authors
  1. David Alejo
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  2. José Antonio Cobano
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  3. G. Heredia
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  4. A. Ollero
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Corresponding author

Correspondence to David Alejo .

Editor information

Editors and Affiliations

  1. Info Syst Dept;Campus de Azurém, University of Minho, Guimarães, Portugal

    Luís Paulo Reis

  2. Electrical and Computer Engineering Dept, University of Porto, Porto, Portugal

    António Paulo Moreira

  3. Instituto Superior Tecnico - Torre Norte, University of Lisboa, Lisboa, Portugal

    Pedro U. Lima

  4. Engineering Dept., E. Ada Byron, Univ of Zaragoza, Computer & Systems, Zaragoza, Spain

    Luis Montano

  5. Automatic Control and Systems Eng. Dept., University of Malaga, Superior Technical, Málaga, Spain

    Victor Muñoz-Martinez

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© 2016 Springer International Publishing Switzerland

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Alejo, D., Cobano, J.A., Heredia, G., Ollero, A. (2016). An Efficient Method for Multi-UAV Conflict Detection and Resolution Under Uncertainties. In: Reis, L., Moreira, A., Lima, P., Montano, L., Muñoz-Martinez, V. (eds) Robot 2015: Second Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 417. Springer, Cham. https://doi.org/10.1007/978-3-319-27146-0_49

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  • DOI: https://doi.org/10.1007/978-3-319-27146-0_49

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-27145-3

  • Online ISBN: 978-3-319-27146-0

  • eBook Packages: Computer ScienceComputer Science (R0)

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