Safety bubble control for coordination of multiple unmanned aircraft systems

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dc.contributor.authorRangel, Pablo
dc.creator.orcid0000-0001-6296-9771en_US
dc.creator.orcidhttps://orcid.org/0000-0001-6296-9771
dc.creator.orcidhttps://orcid.org/0000-0001-6296-97710000-0001-6296-9771
dc.creator.orcidhttps://orcid.org/0000-0001-6296-9771
dc.creator.orcid0000-0001-6296-9771
dc.date.accessioned2022-02-01T17:02:35Z
dc.date.available2022-02-01T17:02:35Z
dc.date.issued2018-08-29
dc.description.abstractA unified collision avoidance control and coordination model for multiple unmanned aircraft systems (UAS) operating in close proximity is proposed. The collision avoidance behavior is based on the elastic collision of gas particles. A safety bubble around each agent is created by means of a sensor fusion architecture, enabling the Sense-and-Avoid (SAA) behavior of the collision avoidance control. The dimension of the safety bubble changes dynamically based on a quantified collision risk which is calculated based on the capabilities of the UAS and the number of neighboring agents. The weather conditions of the environment or airway, as well as the mitigation of third party casualties are also considered. The ultimate goal is to ensure the safety of operations performed by coordinated and uncoordinated UAS, as these systems become more popular in the National Airspace System (NAS).en_US
dc.description.abstractA unified collision avoidance control and coordination model for multiple unmanned aircraft systems (UAS) operating in close proximity is proposed. The collision avoidance behavior is based on the elastic collision of gas particles. A safety bubble around each agent is created by means of a sensor fusion architecture, enabling the Sense-and-Avoid (SAA) behavior of the collision avoidance control. The dimension of the safety bubble changes dynamically based on a quantified collision risk which is calculated based on the capabilities of the UAS and the number of neighboring agents. The weather conditions of the environment or airway, as well as the mitigation of third party casualties are also considered. The ultimate goal is to ensure the safety of operations performed by coordinated and uncoordinated UAS, as these systems become more popular in the National Airspace System (NAS).
dc.identifier.citationRangel, P. and Carrillo, L.R.G., 2018. Safety bubble control for coordination of multiple unmanned aircraft systems. IFAC-PapersOnLine, 51(12), pp.50-55.en_US
dc.identifier.citationRangel, P. and Carrillo, L.R.G., 2018. Safety bubble control for coordination of multiple unmanned aircraft systems. IFAC-PapersOnLine, 51(12), pp.50-55.
dc.identifier.doihttps://doi.org/10.1016/j.ifacol.2018.07.087
dc.identifier.urihttps://hdl.handle.net/1969.6/90124
dc.language.isoen_USen_US
dc.language.isoen_US
dc.publisherElsevieren_US
dc.publisherElsevier
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 International*
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 International
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/
dc.subjectunmanned aircraft systemsen_US
dc.subjectsenseen_US
dc.subjectavoiden_US
dc.subjectcentralized controlen_US
dc.subjectdecentralized controlen_US
dc.subjectunmanned aircraft systems
dc.subjectsense
dc.subjectavoid
dc.subjectcentralized control
dc.subjectdecentralized control
dc.titleSafety bubble control for coordination of multiple unmanned aircraft systemsen_US
dc.titleSafety bubble control for coordination of multiple unmanned aircraft systems
dc.typeArticleen_US
dc.typeArticle

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