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Sense and avoid for Unmanned Aerial Vehicles using ADS-B

Yucong Lin, Srikanth Saripalli
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
A sampling based algorithm is used for collision avoidance path planning. A second collision check is performed on the generated path with the updated UAV and aircrafts' states.  ...  We present the design and implementation of an aircraft collision avoidance algorithm for Unmanned Aerial Vehicles (UAVs).  ...  CONCLUSION AND FUTURE WORKS In this paper, we develop a path planning algorithm based on closed-loop RRT for UAV collision avoidance. ADS-B is used to detect the aircrafts to be avoided.  ... 
doi:10.1109/icra.2015.7140098 dblp:conf/icra/LinS15 fatcat:u3uqm77pnvdcldpzv4d53xagay

Optimization-Based Safety Analysis of Obstacle Avoidance Systems for Unmanned Aerial Vehicles [chapter]

Sivaranjini Srikanthakumar, Cunjia Liu, Wen Hua Chen
2011 Recent Developments in Unmanned Aircraft Systems  
The clearance criterion for the UAV obstacle avoidance system is defined as the minimum distance from the aircraft to the obstacle during the collision avoidance maneuver.  ...  Based on a 6 Degree of Freedom (6DoF) kinematic and dynamic model of a UAV, the path planning and collision avoidance algorithms are developed in 3D space.  ...  Conclusions In this paper, optimization based clearance process of obstacle avoidance systems is applied to verify collision avoidance algorithms for UAVs.  ... 
doi:10.1007/978-94-007-3033-5_16 fatcat:6oitzotuavczbhaftzvny273va

Optimization-Based Safety Analysis of Obstacle Avoidance Systems for Unmanned Aerial Vehicles

Sivaranjini Srikanthakumar, Cunjia Liu, Wen Hua Chen
2011 Journal of Intelligent and Robotic Systems  
The clearance criterion for the UAV obstacle avoidance system is defined as the minimum distance from the aircraft to the obstacle during the collision avoidance manoeuvre.  ...  Based on a simplified 4 Degree of Freedom (4DoF) kinematic and dynamic model of a UAV, the path planning and collision avoidance algorithms are developed in 3D.  ...  In developing optimization based worst case analysis for verification of collision avoidance algorithms, the minimum distance to the obstacle during collision avoidance manoeuvre is defined as the cost  ... 
doi:10.1007/s10846-011-9586-0 fatcat:qxdwfaxmjfcq3ilafsjkspphmy

Vision-based Distributed Multi-UAV Collision Avoidance via Deep Reinforcement Learning for Navigation [article]

Huaxing Huang, Guijie Zhu, Zhun Fan, Hao Zhai, Yuwei Cai, Ze Shi, Zhaohui Dong, Zhifeng Hao
2022 arXiv   pre-print
In this paper, we presented a vision-based decentralized collision-avoidance policy for multi-UAV systems, which takes depth images and inertial measurements as sensory inputs and outputs UAV's steering  ...  The experimental results show that our learned policy can guarantee fully autonomous collision-free navigation for multi-UAV in the three-dimensional workspaces with good robustness and scalability.  ...  To the best of our knowledge, this is the first work to demonstrate a vision-based collision-avoidance policy learned for a multi-UAV system without communication. II.  ... 
arXiv:2203.02650v1 fatcat:mabq6mlbfvehffzjzvzvdws5ei

Automatic Separation Management Between Multiple Unmanned Aircraft Vehicles in Uncertain Dynamic Airspace Based on Trajectory Prediction

Yanshuang Du, Yichen Wang, Xuejun Zhang, Zunli Nie
2019 Revue d'intelligence artificielle : Revue des Sciences et Technologies de l'Information  
To cope with the challenge, this paper puts forward an automatic separation management method for a formation of multiple UAVs based on trajectory prediction in 3D dynamic airspace.  ...  Multiple unmanned aircraft vehicles (UAVs) must avoid colliding into noncooperative obstacles and keep a safe distance between each other.  ...  However, the sampling-based method requires prior knowledge of the airspace, making it not suitable for dynamic collision avoidance, and faces a high complexity in 3D space search.  ... 
doi:10.18280/ria.330302 fatcat:c4uarir35ne3lkyctjgzmhy5ja

Automated Enemy Avoidance of Unmanned Aerial Vehicles Based on Reinforcement Learning

Qiao Cheng, Xiangke Wang, Jian Yang, Lincheng Shen
2019 Applied Sciences  
This paper focuses on one of the collision avoidance scenarios for unmanned aerial vehicles (UAVs), where the UAV needs to avoid collision with the enemy UAV during its flying path to the goal point.  ...  Under this framework, the enemy avoidance problem is formulated as a Markov Decision Process (MDP), and the maneuver policies for the UAV are learned based on a temporal-difference reinforcement learning  ...  Such episode number for converging is a reflection of the sample complexity of this learning based method.  ... 
doi:10.3390/app9040669 fatcat:zllikszrczhbfaa5kd2mnpvlw4

An optimal guidance strategy for moving-target interception by a multirotor unmanned aerial vehicle swarm

Xi Wang, Guanzheng Tan, Yusi Dai, Fanlei Lu, Jian Zhao
2020 IEEE Access  
, the collisions between UAVs or the target can be avoided.  ...  The proposed guidance law is based on the integration of the classic pure pursuit guidance law and Kuhn-Munkres (KM) optimal matching algorithm, and virtual force potential functions are used to avoid  ...  In addition, a virtual force-based algorithm is proposed for collision avoidance. 2.  ... 
doi:10.1109/access.2020.3006479 fatcat:hhbfqtxtlncjloho32ajgu6he4

Online Path Generation and Navigation for Swarms of UAVs [article]

Adnan Ashraf and Amin Majd and Elena Troubitsyna
2019 arXiv   pre-print
The proposed system uses geographical locations of the UAVs and of the successfully detected, static and moving obstacles to predict and avoid: (1) UAV-to-UAV collisions, (2) UAV-to-static-obstacle collisions  ...  In this paper, we present an online, collision-free path generation and navigation system for swarms of UAVs.  ...  Acknowledgments The work was supported by the Academy of Finland projects OpenCPS: Open Integrated Framework for Accelerating Development of Resilient CPS and CoRA: Continuous Resilience Assurance of Complex  ... 
arXiv:1912.09288v1 fatcat:uxncql7sw5et3clgkdxk5i3wpe

Obstacle Avoidance Model for UAVs with Joint Target based on Multi-Strategies and Follow-up Vector Field

Xue Zheng, Stéphane Galland, Xiaowei Tu, Qinghua Yang, Alexandre Lombard, Nicolas Gaud
2020 Procedia Computer Science  
A multi-strategies obstacle avoidance method based on follow-up rotating vector field is proposed for UAV flight planning.  ...  Abstract A multi-strategies obstacle avoidance method based on follow-up rotating vector field is proposed for UAV flight planning.  ...  This approach, shared by other force-based collision avoidance models, enables to limit the need of computational resources, and may enable the deployment of the collision avoidance behavior on real UAVs  ... 
doi:10.1016/j.procs.2020.03.038 fatcat:czmjieb74bdcjdxrf4sc4uxahy

Collision Avoidance for Cooperative UAVs with Rolling Optimization Algorithm Based on Predictive State Space

Tianyuan Yu, Jun Tang, Liang Bai, Songyang Lao
2017 Applied Sciences  
With air traffic densities increasing, it is more and more important for UAVs to be able to predict and avoid collisions.  ...  The main goal of this research effort is to adjust real-time trajectories for cooperative UAVs to avoid collisions in three-dimensional airspace.  ...  Foundation of China (71601181), and the State Key Laboratory of Management and Control for Complex Systems-Open Project (20160109).  ... 
doi:10.3390/app7040329 fatcat:m2r7of3sdzaollyaitz7fykzr4

Monocular Visual-Inertial SLAM-Based Collision Avoidance Strategy for Fail-Safe UAV Using Fuzzy Logic Controllers

Changhong Fu, Miguel A. Olivares-Mendez, Ramon Suarez-Fernandez, Pascual Campoy
2013 Journal of Intelligent and Robotic Systems  
In this paper, we developed a novel Cross-Entropy Optimization (CEO)-based Fuzzy Logic Controller (FLC) for Fail-Safe UAV to expand its collision avoidance capabilities in the GPS-denied environments using  ...  In the Matlab Simulink-based training framework, the Scaling Factor (SF) is adjusted according to the collision avoidance task firstly, and then the Membership Function (MF) is tuned based on the optimized  ...  This FLC generates the yaw command to the Fail-Safe UAV to avoid the collision.  ... 
doi:10.1007/s10846-013-9918-3 fatcat:uktxhivozfdrlplb3thgdhokvm

A survey on unmanned aerial vehicle collision avoidance systems [article]

Hung Pham, Scott A. Smolka, Scott D. Stoller, Dung Phan, Junxing Yang
2015 arXiv   pre-print
Each collision avoidance system contains two main parts: sensing and detection, and collision avoidance.  ...  This paper presents a survey on the major collision avoidance systems developed in up to date publications.  ...  How a CAS determines collision has a significant impact on the collision avoidance phase, for example when to start and stop collision avoidance and possibly the performance of collision avoidance.  ... 
arXiv:1508.07723v1 fatcat:gypl765mwnfd7ebuie3pc2cj2q

UAV POSITIONING AND COLLISION AVOIDANCE BASED ON RSS MEASUREMENTS

A. Masiero, F. Fissore, A. Guarnieri, F. Pirotti, A. Vettore
2015 The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences  
In particular, the collision avoidance problem is examined in this work.  ...  More specifically, to limit the costs for the devices involved in the positioning operations, an approach based on radio signal strengths (RSS) measurements is considered.  ...  Assume that the considered algorithm for collision avoidance works properly (i.e. it allows to change the UAV trajectories in such a way to avoid collision) when the risk of collision is correctly detected  ... 
doi:10.5194/isprsarchives-xl-1-w4-219-2015 fatcat:jjjyqxhranfm3kaa5ris227gba

Integration of Autonomous UAVs into Multi-agent Simulation

Martin Selecký, Tomáš Meiser
2012 Acta Polytechnica  
resulting in a mixed reality system where hardware UAVs and virtual UAVs can co-exist, coordinate their flight and cooperate on common tasks.  ...  Hardware UAVs are capable of on-board planning and reasoning, and can cooperate and coordinate their movement with one another, and also with virtual UAVs.  ...  Figure 12 : 12 Superconflict collision avoidance scenario. Figure 13 : 13 Required bandwidth for collision avoidance negotiation in superconflict.  ... 
doaj:cec9ee8099294823aee738f508b890e9 fatcat:ek6zcw6ay5f7te3d4krj7nqiau

Multi-UAV Collision Avoidance using Multi-Agent Reinforcement Learning with Counterfactual Credit Assignment [article]

Shuangyao Huang, Haibo Zhang, Zhiyi Huang
2022 arXiv   pre-print
Multi-UAV collision avoidance is a challenging task for UAV swarm applications due to the need of tight cooperation among swarm members for collision-free path planning.  ...  We propose a new multi-agent critic-actor learning scheme called MACA for UAV swarm collision avoidance.  ...  Collision Avoidance For UAV Swarms Intensive research has been conducted on collision avoidance for UAV swarms.  ... 
arXiv:2204.08594v1 fatcat:qfvminpgc5alpbtfx3wktvim6y
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