Algorithm for energy efficient inter-UAV collision avoidance

A Reinforcement Learning Approach for Fair User Coverage Using UAV Mounted Base Stations Under Energy Constraints

“…As commonly done in the literature ( [10], [4]), a safety distance (L) is defined for the UAVs. When two or more UAVs are closer than the safety distance to each other, it is identified as a collision (Fig.…”

“…Additional complications arise when multiple UAV-BSs are deployed to serve a specific geographical area. Multiple UAVs sharing a common air space, flying in close proximity to each other, increase the possibility of inter-UAV collisions [4]. Furthermore, due to the same reasons, the probability of interference to ground users from the neighbouring cells (UAV-BSs) increases considerably.…”

Switching formation strategy with the directed dynamic topology for collision avoidance of a multi‐robot system in uncertain environments

“…Although real‐time experiments were conducted successfully and it could be seen that a possible collision between two vehicles is prevented, this method still needs to be extended to crashes involving more than two vehicles. A potential field method was used in [16, 30] to achieve inter‐unmanned aerial vehicle (UAV) collision avoidance using a virtual repulsive force derived from the negative gradient of a potential function. The force calculating method may cause oscillations in the trajectory or even getting stuck due to local minima [31].…”

“…Despite these shortcomings, the current NI technique can be improved to address some problems of formation control with collision avoidance for networked SNI systems interacting on directed network topologies. For example, in order to switch into an obstacle avoidance formation, the relative positions in a specified formation are changed gradually based on the NI consensus‐based formation tracking controller and a novel geometric method, so that oscillations/disturbances in the obstacle avoidance trajectories are avoided, which is one of the main obstacles in [16, 30]. Next, the NI formation control strategy can be easily connected to the other NI control protocols while the internal stability and synchronous characteristic of the fully distributed control structure are still naturally guaranteed.…”

Empirical Power Consumption Model for UAVs

“…Unmanned Aerial Vehicles (UAV) are fast becoming a popular choice for a wide variety of commercial applications. Their many desirous features like the ability to hover, the ability to fly over dangerous and inaccessible areas and ease of deployment enable UAVs to be widely used in many aspects of social life [1].…”