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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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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. ...
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. ...
Conclusions In this paper, optimization based clearance process of obstacle avoidance systems is applied to verify collision avoidance algorithms for UAVs. ...
doi:10.1007/978-94-007-3033-5_16
fatcat:6oitzotuavczbhaftzvny273va
Optimization-Based Safety Analysis of Obstacle Avoidance Systems for Unmanned Aerial Vehicles
2011
Journal of Intelligent and Robotic Systems
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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. ...
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. ...
In developing optimization based worst case analysis for verification of collision avoidance algorithms, the minimum distance to the obstacle during collision avoidance manoeuvre is defined as the cost ...
doi:10.1007/s10846-011-9586-0
fatcat:qxdwfaxmjfcq3ilafsjkspphmy
Vision-based Distributed Multi-UAV Collision Avoidance via Deep Reinforcement Learning for Navigation
[article]
2022
arXiv
pre-print
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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 ...
The experimental results show that our learned policy can guarantee fully autonomous collision-free navigation for multi-UAV in the three-dimensional workspaces with good robustness and scalability. ...
To the best of our knowledge, this is the first work to demonstrate a vision-based collision-avoidance policy learned for a multi-UAV system without communication.
II. ...
arXiv:2203.02650v1
fatcat:mabq6mlbfvehffzjzvzvdws5ei
Automatic Separation Management Between Multiple Unmanned Aircraft Vehicles in Uncertain Dynamic Airspace Based on Trajectory Prediction
2019
Revue d'intelligence artificielle : Revue des Sciences et Technologies de l'Information
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To cope with the challenge, this paper puts forward an automatic separation management method for a formation of multiple UAVs based on trajectory prediction in 3D dynamic airspace. ...
Multiple unmanned aircraft vehicles (UAVs) must avoid colliding into noncooperative obstacles and keep a safe distance between each other. ...
However, the sampling-based method requires prior knowledge of the airspace, making it not suitable for dynamic collision avoidance, and faces a high complexity in 3D space search. ...
doi:10.18280/ria.330302
fatcat:c4uarir35ne3lkyctjgzmhy5ja
Automated Enemy Avoidance of Unmanned Aerial Vehicles Based on Reinforcement Learning
2019
Applied Sciences
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This paper focuses on one of the collision avoidance scenarios for unmanned aerial vehicles (UAVs), where the UAV needs to avoid collision with the enemy UAV during its flying path to the goal point. ...
Under this framework, the enemy avoidance problem is formulated as a Markov Decision Process (MDP), and the maneuver policies for the UAV are learned based on a temporal-difference reinforcement learning ...
Such episode number for converging is a reflection of the sample complexity of this learning based method. ...
doi:10.3390/app9040669
fatcat:zllikszrczhbfaa5kd2mnpvlw4
Online Path Generation and Navigation for Swarms of UAVs
[article]
2019
arXiv
pre-print
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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 ...
In this paper, we present an online, collision-free path generation and navigation system for swarms of UAVs. ...
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
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. ...
This approach, shared by other force-based collision avoidance models, enables to limit the need of computational resources, and may enable the deployment of the collision avoidance behavior on real UAVs ...
doi:10.1016/j.procs.2020.03.038
fatcat:czmjieb74bdcjdxrf4sc4uxahy
Collision Avoidance for Cooperative UAVs with Rolling Optimization Algorithm Based on Predictive State Space
2017
Applied Sciences
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With air traffic densities increasing, it is more and more important for UAVs to be able to predict and avoid collisions. ...
The main goal of this research effort is to adjust real-time trajectories for cooperative UAVs to avoid collisions in three-dimensional airspace. ...
Foundation of China (71601181), and the State Key Laboratory of Management and Control for Complex Systems-Open Project (20160109). ...
doi:10.3390/app7040329
fatcat:m2r7of3sdzaollyaitz7fykzr4
An optimal guidance strategy for moving-target interception by a multirotor unmanned aerial vehicle swarm
2020
IEEE Access
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, the collisions between UAVs or the target can be avoided. ...
The proposed guidance law is based on the integration of the classic pure pursuit guidance law and Kuhn-Munkres (KM) optimal matching algorithm, and virtual force potential functions are used to avoid ...
In addition, a virtual force-based algorithm is proposed for collision avoidance. 2. ...
doi:10.1109/access.2020.3006479
fatcat:hhbfqtxtlncjloho32ajgu6he4
A survey on unmanned aerial vehicle collision avoidance systems
[article]
2015
arXiv
pre-print
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Each collision avoidance system contains two main parts: sensing and detection, and collision avoidance. ...
This paper presents a survey on the major collision avoidance systems developed in up to date publications. ...
How a CAS determines collision has a significant impact on the collision avoidance phase, for example when to start and stop collision avoidance and possibly the performance of collision avoidance. ...
arXiv:1508.07723v1
fatcat:gypl765mwnfd7ebuie3pc2cj2q
Monocular Visual-Inertial SLAM-Based Collision Avoidance Strategy for Fail-Safe UAV Using Fuzzy Logic Controllers
2013
Journal of Intelligent and Robotic Systems
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In this paper, we developed a novel Cross-Entropy Optimization (CEO)-based Fuzzy Logic Controller (FLC) for Fail-Safe UAV to expand its collision avoidance capabilities in the GPS-denied environments using ...
In the Matlab Simulink-based training framework, the Scaling Factor (SF) is adjusted according to the collision avoidance task firstly, and then the Membership Function (MF) is tuned based on the optimized ...
This FLC generates the yaw command to the Fail-Safe UAV to avoid the collision. ...
doi:10.1007/s10846-013-9918-3
fatcat:uktxhivozfdrlplb3thgdhokvm
Vision-Based Mid-Air Object Detection and Avoidance Approach for Small Unmanned Aerial Vehicles with Deep Learning and Risk Assessment
2024
Remote Sensing
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Therefore, detect and avoid (DAA) technology for UAVs has become a crucial element for mid-air collision avoidance. ...
This study presents a collision avoidance approach for UAVs equipped with a monocular camera to detect small fixed-wing intruders. The proposed system can detect any size of UAV over a long range. ...
Lyu et al. proposed another collision avoidance strategy for UAVs, which was only based on a dynamic safety envelope [31] . ...
doi:10.3390/rs16050756
fatcat:a27yr4btrzbvtiio4k4bdlfbdi
A Hierarchical Collision Avoidance Architecture for Multiple Fixed-Wing UAVs in an Integrated Airspace
[article]
2020
arXiv
pre-print
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This paper studies the collision avoidance problem for autonomous multiple fixedwing UAVs in the complex integrated airspace. ...
conflict detection and resolution procedures is developed for multiple fixed-wing UAVs modeled by unicycle kinematics subject to input constraints. ...
Various approaches for collision avoidance of UAVs have been developed these years. ...
arXiv:2005.14455v1
fatcat:mwlebudgbjed5n5lv64xc4viqe
UAV POSITIONING AND COLLISION AVOIDANCE BASED ON RSS MEASUREMENTS
2015
The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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In particular, the collision avoidance problem is examined in this work. ...
More specifically, to limit the costs for the devices involved in the positioning operations, an approach based on radio signal strengths (RSS) measurements is considered. ...
Assume that the considered algorithm for collision avoidance works properly (i.e. it allows to change the UAV trajectories in such a way to avoid collision) when the risk of collision is correctly detected ...
doi:10.5194/isprsarchives-xl-1-w4-219-2015
fatcat:jjjyqxhranfm3kaa5ris227gba
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