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

Adnan Ashraf, Amin Majd, Elena Troubitsyna

    Research output: Chapter in Book/Conference proceedingConference contributionScientificpeer-review

    4 Citations (Scopus)
    1 Downloads (Pure)

    Abstract

    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.

    Original languageUndefined/Unknown
    Title of host publicationProceedings of the Fifth European Conference on the Engineering of Computer-Based Systems
    EditorsOndrej Rysavy, Valentino Vranić
    PublisherACM
    Pages
    ISBN (Print)978-1-4503-4843-0
    DOIs
    Publication statusPublished - 2017
    MoE publication typeA4 Article in a conference publication
    EventEuropean Conference on the Engineering of Computer-Based Systems, ECBS - Fifth European Conference on the Engineering of Computer-Based Systems, ECBS '17
    Duration: 31 Aug 20171 Sep 2017

    Conference

    ConferenceEuropean Conference on the Engineering of Computer-Based Systems, ECBS
    Period31/08/1701/09/17

    Keywords

    • Robotics and automation
    • UAV

    Cite this