RT Conference Proceedings
T1 An hp-adaptative pseudospectral method for collision avoidance with multiple UAVs in real-time applications
A1 Vera, Santiago
A1 Cobano-Suárez, José-Antonio
A1 Heredia, Guillermo
A1 Ollero, Aníbal
K1 Trajectory
K1 Vehicles
K1 Collision avoidance
K1 Computational modeling
K1 Polynomials
K1 Optimal control
K1 Real-time systems
AB This paper proposes the application of an hp-adaptive pseudospectral for trajectory generation in scenarios with multiple aerial vehicles in order to avoid collisions. This method computes an optimal solution numerically. The method assigns a speed profile to each aerial vehicle in real time such that the separation between  hem is greater than a minimum safety value and the total deviation from the initial trajectories is minimized. The Estimated Time of Arrival (ETA) of each aerial vehicle is also taken into account to solve the conflicts. Its computational load and scalability depending on the main parameters of the method are studied. Many simulations have been performed to analyze the best parameters of the method. Experiments have been also carried out in the multivehicle aerial testbed of the Center for Advanced Aerospace Technologies (CATEC).
PB IEEE
YR 2014
FD 2014-09-29
LK https://hdl.handle.net/10433/22983
UL https://hdl.handle.net/10433/22983
LA en
NO 2014 IEEE International Conference on Robotics and Automation (ICRA), pp. 4717-4722
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 24, 2026