Related papers: Mixed-Integer Linear Programming Model for Collisi…
This paper studies the collision avoidance problem for autonomous multiple fixedwing UAVs in the complex integrated airspace. By studying and combining the online path planning method, the distributed model predictive control algorithm, and…
In this paper we propose a technique that assigns obstacles to clusters used for collision avoidance via Mixed-Integer Programming. This strategy enables a reduction in the number of binary variables used for collision avoidance, thus…
Aircraft collision avoidance systems is critical to modern aviation. These systems are designed to predict potential collisions between aircraft and recommend appropriate avoidance actions. Creating effective collision avoidance systems…
Collision-tolerant trajectory planning is the consideration that collisions, if they are planned appropriately, enable more effective path planning for robots capable of handling them. A mixed integer programming (MIP) optimization…
New methodologies will be needed to ensure the airspace remains safe and efficient as traffic densities rise to accommodate new unmanned operations. This paper explores how unmanned free-flight traffic may operate in dense airspace. We…
This paper presents the use of robust model predictive control for the design of an intent-aware collision avoidance system for multi-agent aircraft engaged in horizontal maneuvering scenarios. We assume that information from other agents…
The optimization of fuel-optimal low-thrust collision avoidance maneuvers (CAMs) in scenarios involving multiple encounters between spacecraft is addressed. The optimization's objective is the minimization of the total fuel consumption…
Safely integrating unmanned aerial vehicles into civil airspace is contingent upon development of a trustworthy collision avoidance system. This paper proposes an approach whereby a parameterized resolution logic that is considered trusted…
In this article, the formation mission design problem for commercial aircraft is studied. Given the departure times and the departure and arrival locations of several commercial flights, the relevant weather forecast, and the expected fuel…
A central aspect of robotic motion planning is collision avoidance, where a multitude of different approaches are currently in use. Optimization-based motion planning is one method, that often heavily relies on distance computations between…
To guarantee the safety of flight operations, decision-support systems for air traffic control must be able to improve the usage of airspace capacity and handle increasing demand. In this study, we address the aircraft conflict avoidance…
In this paper, we propose a reachable set based collision avoidance algorithm for unmanned aerial vehicles (UAVs). UAVs have been deployed for agriculture research and management, surveillance and sensor coverage for threat detection and…
We consider a coordinated complexity-aware 4D trajectory planning problem in this paper. A case study of multiple aircraft traversing through a sector that contains a network of airways and waypoints is utilized to illustrate the model and…
Given the spatial heterogeneity of land use patterns in most cities, large-scale UAM deployments will likely focus on specific areas, such as intertransfer traffic between suburbs and city centers. However, large-scale UAM operations…
In multi UAV scenarios,the traditional Artificial Potential Field (APF) method often leads to redundant flight paths and frequent abrupt heading changes due to unreasonable obstacle avoidance path planning,and is highly prone to inter UAV…
Collision avoidance requires tradeoffs in planning time horizons. Depending on the planner, safety cannot always be guaranteed in uncertain environments given map updates. To mitigate situations where the planner leads the vehicle into a…
For aerial swarms, navigation in a prescribed formation is widely practiced in various scenarios. However, the associated planning strategies typically lack the capability of avoiding obstacles in cluttered environments. To address this…
Collision avoidance is a key factor in enabling the integration of unmanned aerial vehicle into real life use, whether it is in military or civil application. For a long time there have been a large number of works to address this problem;…
Formation flight is when multiple objects fly together in a coordination. Various automatic control methods have been used for the autonomous execution of formation flight of aerial vehicles. In this paper, the capacity of the model…
This study proposes a novel multi-objective integer programming model for a collision-free discrete drone path planning problem. Considering the possibility of bypassing obstacles or flying above them, this study aims to minimize the path…