Towards a Realtime, Collision-Free Motion Coordination and Navigation System for a UAV Fleet

A4 Conference proceedings

Internal Authors/Editors

Publication Details

List of Authors: Adnan Ashraf, Amin Majd, Elena Troubitsyna
Editors: Ondrej Rysavy, Valentino Vranić
Publication year: 2017
Publisher: ACM
Book title: Proceedings of the Fifth European Conference on the Engineering of Computer-Based Systems
ISBN: 978-1-4503-4843-0


This paper presents a realtime, collision-free motion coordination and navigation system for an Unmanned Aerial Vehicle (UAV) fleet. The proposed system uses geographical locations of the UAVs and of the successfully detected, static and moving obstacles to predict and avoid: (1) UAV-to-UAV collisions, (2) UAV-to-static-obstacle collisions, and (3) UAV-to-moving-obstacle collisions. Our collision prediction approach leverages efficient runtime monitoring and Complex Event Processing (CEP) to make timely predictions. A distinctive feature of the proposed system is its ability to foresee a risk of a collision in realtime and proactively find best ways to avoid the predicted collisions in order to ensure safety of the entire fleet. We also present a simulation-based implementation of the proposed system along with an experimental evaluation involving a series of experiments. The results demonstrate that the proposed system successfully predicts and avoids all three kinds of collisions in realtime. Moreover, it generates efficient UAV routes, has an excellent runtime performance, efficiently scales to large-sized problem instances involving dozens of UAVs and obstacles, and is suitable for some densely populated, cluttered flying zones.


Robotics and automation, UAV


Last updated on 2020-01-10 at 03:34

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