348648d9d419b7772537c74382a12fa8 appsci_a2017v7p83.pdf 66043b6882fdc7df8388acf7773baa74686ee635 appsci_a2017v7p83.pdf 6d727e3e36f0e0d1809e4a7ff54e48608ac85b0dd03bffbd711f3fab2eeb5498 appsci_a2017v7p83.pdf Title: Cooperative Multi-UAV Collision Avoidance Based on Distributed Dynamic Optimization and Causal Analysis Subject: A critical requirement for unmanned aerial vehicles (UAV) is the collision avoidance (CA) capability to meet safety and flexibility issues in an environment of increasing air traffic densities. This paper proposes two efficient algorithms: conflict detection (CD) algorithm and conflict resolution (CR) algorithm. These two algorithms are the key components of the cooperative multi-UAV CA system. The CD sub-module analyzes the spatial-temporal information of four dimensional (4D) trajectory to detect potential collisions. The CR sub-module calculates the minimum deviation of the planned trajectory by an objective function integrated with track adjustment, distance, and time costs, taking into account the vehicle performance, state and separation constraints. Additionally, we extend the CR sub-module with causal analysis to generate all possible solution states in order to select the optimal strategy for a multi-threat scenario, considering the potential interactions among neighboring UAVs with a global scope of a cluster. Quantitative simulation experiments are conducted to validate the feasibility and scalability of the proposed CA system, as well as to test its efficiency with variable parameters. Keywords: collision avoidance; UAV; 4D trajectory; distributed dynamic optimization; casual analysis Author: Mingrui Lao and Jun Tang Creator: LaTeX with hyperref package Producer: pdfTeX-1.40.15 CreationDate: Tue Jan 17 16:46:56 2017 ModDate: Tue Jan 17 16:46:56 2017 Tagged: no UserProperties: no Suspects: no Form: none JavaScript: no Pages: 14 Encrypted: no Page size: 595.276 x 841.89 pts (A4) Page rot: 0 File size: 4135804 bytes Optimized: no PDF version: 1.5 name type encoding emb sub uni object ID ------------------------------------ ----------------- ---------------- --- --- --- --------- JLFTTH+URWPalladioL-Ital Type 1 Custom yes yes no 79 0 JHRLWR+URWPalladioL-Bold Type 1 Custom yes yes no 80 0 ZTZBAM+URWPalladioL-Roma Type 1 Custom yes yes no 81 0 CRVMKC+TimesNewRomanPS-BoldItalicMT Type 1C WinAnsi yes yes no 85 0 LRJLPH+CMSY10 Type 1 Builtin yes yes no 111 0 ABCDEE+Palatino Linotype TrueType WinAnsi yes yes no 140 0 ABCDEE+Palatino Linotype,Italic TrueType WinAnsi yes yes no 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