Paper Info
Title
The speed assignment problem for conflict resolution in aerial robotics
Abstract
This paper presents an efficient conflict resolution method for multiple aerial vehicles based on speed planning. The problem is assigning a speed profile to each aerial vehicle in real time such that the separation between them is greater than a minimum safety value and the total deviation from the initial planned trajectories is minimized. Also, the arrival time of each aerial vehicle at the end waypoint of the trajectory is taken into account to solve the conflicts. The proposed method involves the use of appropriate airspace discretization. The method consists of two steps: a search tree step, which finds if it exists a solution; and an optimization step by solving a QP-problem, which minimizes a cost function. The paper also presents simulations for several scenarios and experiments that have been carried out in the multivehicle aerial testbed of the Center for Advanced Aerospace Technologies (CATEC).
Year
DOI
Venue
2012
10.1109/ICRA.2012.6225026
Robotics and Automation
Keywords
Field
DocType
aerospace control,aerospace robotics,mobile robots,trajectory control,CATEC,aerial robotics,appropriate airspace discretization,center for advanced aerospace technologies,conflict resolution method,initial planned trajectories,multiple aerial vehicles,multivehicle aerial testbed,speed assignment problem,speed planning,speed profile
Testbed,Real-time computing,Control engineering,Waypoint,Artificial intelligence,Robotics,Trajectory,Simulation,Airspace class,Assignment problem,Engineering,Mobile robot,Search tree
Conference
Volume
Issue
ISSN
2012
1
1050-4729 E-ISBN : 978-1-4673-1404-6
ISBN
Citations 
PageRank 
978-1-4673-1404-6
0
0.34
References 
Authors
3
6
Name
Order
Citations
PageRank
David Alejo1546.63
J. A. Cobano2828.31
Miguel Angel Trujillo3222.76
Antidio Viguria415419.05
A. Rodriguez520.71
Aníbal Ollero61109123.55