Distributed Consensus to Enable Merging and Spacing of UAS in an Urban Environment

Swee Balachandran, Cesar Munoz, Maria Consiglio
2018 2018 International Conference on Unmanned Aircraft Systems (ICUAS)  
This paper presents a novel approach to enable multiple Unmanned Aerial Systems approaching a common intersection to independently schedule their arrival time while maintaining a safe separation. Aircraft merging at a common intersection are grouped into a network and each aircraft broadcasts its arrival time interval to the network. A distributed consensus algorithm elects a leader among the aircraft approaching the intersection and helps synchronize the information received by each aircraft.
more » ... he consensus algorithm ensures that each aircraft computes a schedule with the same input information. The elected leader also dictates when a schedule must be computed, which may be triggered when a new aircraft joins the network. Preliminary results illustrating the collaborative behavior of the vehicles are presented.
doi:10.1109/icuas.2018.8453460 fatcat:7utg5uc5pvbkpneiux3xbv2g3m