2020 International Conference on Unmanned Aircraft Systems (ICUAS) 2020
DOI: 10.1109/icuas48674.2020.9213905
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Obstacle Avoidance Manager for UAVs Swarm

Abstract: En primer lugar, agradecer a mis directores académicos, Arturo y David y, a Pablo en Drone Hopper, por acompañarme a lo largo de esta etapa que hoy está más cerca de culminarse. Gracias por la ayuda prestada, por hacerme crecer, en el ámbito profesional y en el personal. Gracias por conar en mí y permitir que, junto a Drone Hopper, haya podido cerrar una etapa tan importante.Aunque si algo me ha llevado hoy a escribir estas líneas es formar parte, durante 5 años, de una familia como el LSI, incluida esa nueva … Show more

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Cited by 7 publications
(5 citation statements)
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References 74 publications
(63 reference statements)
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“…The third layer of the developed software architecture ensures, on the one hand, coordinated navigation without swarm supervision and, on the other hand, collision-free navigation with objects present in the work space. Thus, this layer combines a set of methods that guarantee the free movement of UAVs through the paths established by the global planner or, through alternative paths generated in case the presence of new or dynamic obstacles prevent navigation through the previously determined paths [29].…”
Section: Layer Iii: Collision Detection and Avoidmentioning
confidence: 99%
See 2 more Smart Citations
“…The third layer of the developed software architecture ensures, on the one hand, coordinated navigation without swarm supervision and, on the other hand, collision-free navigation with objects present in the work space. Thus, this layer combines a set of methods that guarantee the free movement of UAVs through the paths established by the global planner or, through alternative paths generated in case the presence of new or dynamic obstacles prevent navigation through the previously determined paths [29].…”
Section: Layer Iii: Collision Detection and Avoidmentioning
confidence: 99%
“…In relation to this method, this second layer of architecture includes an implementation that seeks to avoid collisions in situations where, at least one of the UAVs, is taking advantage of multi-rounders to be able to stay on a stationary flight, without the need to make forward movements to generate support, as is the case with fixed-wing aircraft. In this case, to maintain the position on the XY plane of the UAV in question, the collision avoidance system is responsible, in detecting that event, for setting a different altitude value for each swarm agent involved in the conflict, thus avoiding possible collision [29].…”
Section: Layer Iii: Collision Detection and Avoidmentioning
confidence: 99%
See 1 more Smart Citation
“…Another approach to obstacle avoidance is with generation of collision-free paths for individual UAVs [26][27][28][29][30]. However, these approaches are verified only in simulations and require sufficient localization in map frame to compute collision-free paths for individuals UAVs.…”
Section: Related Workmentioning
confidence: 99%
“…However, these approaches are verified only in simulations and require sufficient localization in map frame to compute collision-free paths for individuals UAVs. Collision avoidance between swarm members using communication and non-moving obstacle avoidance using light detection and ranging (LiDAR) is presented in [27]. Collision-free paths considering static as well as moving obstacles is proposed in [29], but precise states of all UAVs have to be shared over the swarm for the correct function of this approach.…”
Section: Related Workmentioning
confidence: 99%