Name
Abstract | ||
|---|---|---|
This paper presents a Conflict Detection and Resolution (CDR) method for cooperating Unmanned Aerial Vehicles (UAVs) sharing airspace. The proposed method detects conflicts using an algorithm based on axis-aligned minimum bounding box and solves the detected conflicts cooperatively using a genetic algorithm that modifies the trajectories of the UAVs with an overall minimum cost. The method changes the initial flight plan of each UAV by adding intermediate waypoints that define the solution flight plan while maintaining their velocities. The method has been validated with many simulations and experimental results with multiple aerial vehicles platforms based on quadrotors in a common airspace. The experiments have been carried out in the multi-UAV aerial testbed of the Center for Advanced Aerospace Technologies (CATEC). |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1007/s10846-011-9564-6 | Journal of Intelligent and Robotic Systems |
Keywords | Field | DocType |
advanced aerospace technologies,common airspace,proposed method detects conflict,method change,multiple aerial vehicles platform,genetic algorithm,overall minimum cost,resolution method,conflict detection and resolution · cooperative aerial vehicles · genetic algorithms,conflict detection,unmanned aerial vehicles,axis-aligned minimum,solution flight plan,initial flight plan,genetic algorithms | Aerospace,Flight plan,Testbed,Airspace class,Control engineering,Engineering,Genetic algorithm,Minimum bounding box | Journal |
Volume | Issue | ISSN |
65 | 1-4 | 1573-0409 |
Citations | PageRank | References |
13 | 0.79 | 8 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| R. Conde | 1 | 43 | 2.92 |
| David Alejo | 2 | 54 | 6.63 |
| José Antonio Cobano | 3 | 22 | 3.74 |
| Antidio Viguria | 4 | 154 | 19.05 |
| Aníbal Ollero | 5 | 1109 | 123.55 |