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Sense and avoid for Unmanned Aerial Vehicles using ADS-B
2015
2015 IEEE International Conference on Robotics and Automation (ICRA)
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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]
2011
Recent Developments in Unmanned Aircraft Systems
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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. ...
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. ...
UAV path planning using the artificial potential field method will be used as a candidate collision avoidance technique in this paper for safety assessment. ...
doi:10.1007/978-94-007-3033-5_16
fatcat:6oitzotuavczbhaftzvny273va
Optimization Methods Applied to Motion Planning of Unmanned Aerial Vehicles: A Review
2022
Drones
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These applications require motion planning of UAVs along with collision avoidance protocols to get better robustness and a faster convergence rate to meet the target. ...
In this survey, diverse scholarly articles were gathered to highlight the motion planning for UAVs that use bio-inspired algorithms. ...
Sampling-Based Motion Planning Random selection is used in sampling-based motion planning to build a graph or tree (path) in C-space on which queries (start/goal configurations) can be solved, as shown ...
doi:10.3390/drones6050126
fatcat:gmays7nvtzfjpdlbc67jbn3hle
Optimization-Based Safety Analysis of Obstacle Avoidance Systems for Unmanned Aerial Vehicles
2011
Journal of Intelligent and Robotic Systems
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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. ...
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. ...
UAV path planning using the artificial potential field method will be used as a candidate collision avoidance technique for safety assessment. ...
doi:10.1007/s10846-011-9586-0
fatcat:qxdwfaxmjfcq3ilafsjkspphmy
Online Path Generation and Navigation for Swarms of UAVs
[article]
2019
arXiv
pre-print
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In this paper, we present an online, collision-free path generation and navigation system for swarms of UAVs. ...
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 ...
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
Incorporation of Potential Fields and Motion Primitives for the Collision Avoidance of Unmanned Aircraft
2021
Applied Sciences
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When a collision checker based on the k-d tree search algorithm detects collision risk on extracted sample points from the planned trajectory, generating re-planned path candidates to avoid obstacles is ...
Collision avoidance (CA) using the artificial potential field (APF) usually faces several known issues such as local minima and dynamically infeasible problems, so unmanned aerial vehicles' (UAVs) paths ...
When the MPs-based motion planning in Section 2.1 are ready for collision checking, an autonomous UAV first extracts sample points from the planned path within the observable area (e.g., sensing range ...
doi:10.3390/app11073103
fatcat:x4ruf7el4rdcvpvxqplmzeqwla
Vision-based Distributed Multi-UAV Collision Avoidance via Deep Reinforcement Learning for Navigation
[article]
2022
arXiv
pre-print
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Online path planning for multiple unmanned aerial vehicle (multi-UAV) systems is considered a challenging task. ...
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 ...
This is because each UAV adjusts its planning path more frequently to avoid collision compared to RL+VAE. ...
arXiv:2203.02650v1
fatcat:mabq6mlbfvehffzjzvzvdws5ei
Path planning using 3D Dubins Curve for Unmanned Aerial Vehicles
2014
2014 International Conference on Unmanned Aircraft Systems (ICUAS)
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We present a path planning algorithm based on 3D Dubins Curves [1] for Unmanned Aerial Vehicles (UAVs) to avoid both static and moving obstacles. ...
When the UAV executes the path, the path is checked for collision with updated obstacles' states. A new path is generated if the previous one is predicted to collide with obstacles. ...
A more fundamental problem-path planning in dynamic environment was studied in [17] , [18] , [19] , [20] by sampling-based planning. ...
doi:10.1109/icuas.2014.6842268
fatcat:ehevt73whbcv7p6ri75spwaspu
UAV autonomous collision avoidance approach
2017
Automatika
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experience" for UAV executing the avoidance manoeuvre. ...
The threat information is sensed using the sensory layer, and the path planning approach in the logical layer is applied to the output configuration of UAV. ...
If so, the UAV behaviour is output in the bank; otherwise, execute path planning to generate a new path to resolve the collision avoidance, and put the new result into the sample. ...
doi:10.1080/00051144.2017.1388646
fatcat:sm2sfbj64nbrhjair6b55ojyw4
Obstacle Avoidance Model for UAVs with Joint Target based on Multi-Strategies and Follow-up Vector Field
2020
Procedia Computer Science
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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. ...
Flight Path Planning Strategies In this section, two complementary strategies are proposed for computing the UAV's path: avoid collisions based on weighting factors, and track the target. ...
doi:10.1016/j.procs.2020.03.038
fatcat:czmjieb74bdcjdxrf4sc4uxahy
iADA*-RL: Anytime Graph-Based Path Planning with Deep Reinforcement Learning for an Autonomous UAV
2021
Applied Sciences
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A hybrid path planning approach is developed by combining a graph-based path planning algorithm with a learning-based algorithm for local planning to allow the UAV to avoid a collision in real time. ...
In this paper, we propose a hybrid path planning algorithm that uses an anytime graph-based path planning algorithm for global planning and deep reinforcement learning for local planning which applied ...
Acknowledgments: All of the authors would like to appreciate and thank the anonymous reviewers for giving such detailed and constructive comments and suggestions throughout the peer-review processes. ...
doi:10.3390/app11093948
doaj:f82b365632e24676928f5fe2276dbbc0
fatcat:u4i72ga6lzg2hdozphbx5zqkda
Multi-UAV trajectory planning for 3D visual inspection of complex structures
[article]
2022
arXiv
pre-print
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This paper presents a new trajectory planning algorithm for 3D autonomous UAV volume coverage and visual inspection. ...
The other two inspection scenarios are based on realistic structures where UAVs are commonly utilized: a wind turbine and a bridge. ...
A multi-UAV sampling-based Coverage Path Planning (CPP) framework for the inspection of large-scale, complex 3D structures is presented in [28] . ...
arXiv:2204.10070v1
fatcat:utyznswe7bfz7pnn25uasyiuci
Online Path Generation and Navigation for Swarms of UAVs
2020
Scientific Programming
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In this paper, we present an online, collision-free path generation and navigation system for swarms of UAVs. ...
The proposed system uses geographical locations of the UAVs and of the successfully detected, static, and moving obstacles to predict and avoid the following: (1) UAV-to-UAV collisions, (2) UAV-to-static-obstacle ...
OpenCPS: Open Integrated Framework for Accelerating Development of Resilient CPS and CoRA: Continuous Resilience Assurance of Complex Software-Intensive Systems. ...
doi:10.1155/2020/8530763
fatcat:mtopvdvmavgylf4f6syvrakab4
An Autonomous Path Planning Method for Unmanned Aerial Vehicle based on A Tangent Intersection and Target Guidance Strategy
[article]
2020
arXiv
pre-print
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To generate high-quality paths without obstacle collision for UAVs, this paper proposes a novel autonomous path planning algorithm based on a tangent intersection and target guidance strategy (APPATT). ...
Unmanned aerial vehicle (UAV) path planning enables UAVs to avoid obstacles and reach the target efficiently. ...
methods for UAV path planning. ...
arXiv:2006.04103v1
fatcat:fveyrel5ujdqzpxlvtso6xmzym
Laser-based Collision Avoidance and Reactive Navigation using RRT* and Signed Distance Field for Multirotor UAVs
2019
2019 International Conference on Unmanned Aircraft Systems (ICUAS)
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In this paper, we present a new collision avoidance algorithm by combining an RRT* path planner with a Signed Distance Field (SDF) based collision checking algorithm, in which the trajectory is optimized ...
Collision avoidance plays a crucial role for autonomous navigation in unknown dynamic environments and still remains an ongoing research problem. ...
As mentioned by Michal Kleinbort et al [5] , collision checking plays a very important part for reducing the time of collision-free path finding of sampling-based planners. ...
doi:10.1109/icuas.2019.8798124
fatcat:az5w27sj5ffshbr4rx2qtgubym
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