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Global and local (or reactive) obstacle avoidance across unmanned aerial vehicle (UAV) altitudes is a challenging problem. In an UAV autonomous flight when the obstacle threat is determined in-flight from the on-board sensors, techniques to avoid the obstacles autonomously in real-time and continue with the predefined flight path need to be incorporated into the autonomous systems. Hence a requirement...
Unmanned Aerial Vehicles(UAVs) as a formation can accomplish missions with ease than a single UAV. Hence UAVs find applications in environmental monitoring, surveillance tasks etc. In this paper, a controller is synthesized in optimal control framework for achieving any desired formation.By properly choosing formation vectors any formation can be achieved. While moving in formation the UAVs may encounter...
We present the design and implementation of an aircraft collision avoidance algorithm for Unmanned Aerial Vehicles (UAVs). Automatic Dependent Surveillance-Broadcast (ADS-B) is used to detect aircraft. The UAV needs to fly through pre-assigned waypoints while avoiding collisions with other aircraft. The aircraft are indifferent to the UAV. A collision with aircraft are detected by simulating the UAV's...
This paper provides a preliminary analysis of an autonomous uncooperative collision avoidance strategy for unmanned aircraft using image-based visual control. Assuming target detection, the approach consists of three parts. First, a novel decision strategy is used to determine appropriate reference image features to track for safe avoidance. This is achieved by considering the current rules of the...
AUTOFLY-Aid Project aims to develop and demonstrate novel automation support algorithms and tools to the flight crew for flight critical collision avoidance using “dynamic 4D trajectory management”. The automation support system is envisioned to improve the primary shortcomings of TCAS, and to aid the pilot through add-on avionics/head-up displays and reality augmentation devices in dynamically evolving...
In this paper, we propose a control law that makes multiple non-holonomic vehicles converge to a limit cycle with the same relative phase angle. All the agents use information on only their neighbors with which they can communicate. An adjacency matrix is used to represent the connectivity among the agents. With the phase portrait of the limit cycle and the heading angles of the vehicles, we derive...
We present a decentralized Model Predictive Control scheme for hierarchical systems to tackle the collision avoidance problem for autonomous aircraft in an air traffic control setting. Using a low level controller, the aircraft dynamic equations are abstracted to simpler unicycle kinematic equations. The navigation function methodology is then used to generate conflict free trajectories for all aircraft...
This paper presents a computational framework of partitioning a dynamical system's free space in a way such that global optimality can be guaranteed by composing control policies over a local region. Unlike traditional triangulation methods, the partition method in this paper takes into account the topological layout, as well as the vehicle dynamics. With this framework, we show that spatial, dynamic...
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