RT Journal Article
T1 Collision Avoidance for Multiple UAVs Using Rolling-Horizon Policy
A1 Vera, Santiago
A1 Cobano-Suárez, José-Antonio
A1 Heredia, Guillermo
A1 Ollero, Aníbal
K1 Collision avoidance
K1 Unmanned aerial vehicles
K1 Collocation techniques
AB This paper addresses the problem of collision avoidance in scenarios with multiple aerial vehicles and proposes a method based on a Legendre pseudospectral collocation in order to compute the solution trajectories and guarantee that the safety distance between them is always maintained. The method uses a rolling horizon policy in which trajectories are planned up to a given time horizon, thus considering a much smaller problem space. Then, the system is applied iteratively. Studies have been performed to set the values of the look-ahead time and the number of collocations points. The computational load and scalability of the method are also studied in randomly generated scenarios to test its application in real time. Experiments have been also carried out in the multivehicle aerial testbed of the Center for Advanced Aerospace Technologies (Seville, Spain).
PB Springer
YR 2016
FD 2016-12-01
LK https://hdl.handle.net/10433/22997
UL https://hdl.handle.net/10433/22997
LA en
NO Vera, S., Cobano, J.A., Heredia, G. et al. Collision Avoidance for Multiple UAVs Using Rolling-Horizon Policy. J Intell Robot Syst 84, 387–396 (2016). https://doi.org/10.1007/s10846-015-0291-2
NO This work was supported by the European Commission FP7 ICT Programme under the EC-SAFEMOBIL project (288082) and the CLEAR project (DPI2011-28937-C02-01) funded by the Ministerio de Ciencia e Innovacion of the Spanish Government.
NO Deporte e Informática
DS RIO
RD Apr 25, 2026