An Efficient Method for Multi-UAV Conflict Detection and Resolution Under Uncertainties

This paper presents a efficent conflict detection and resolution (CDR) method for an aerial vehicle sharing airspace with other aerial vehicles. It is based on a conflict detection (CD) algorithm (axis-aligned minimum bounding box) and conflict resoluction (CR) algorithm (genetic algorithms) to find safe trajectories. Monte-Carlo estimation is used to evaluate the best predicted trajectories considering different sources of uncertainty such as the wind, the inaccuracies in the vehicle model and limitations of on-board sensors and control system. Simulations are performed in different scenarios and conditions of wind to test the method.

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