Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Recent approaches to global optimization problems through Particle Swarm Optimization
Natural Computing: an international journal
Planning Algorithms
Multi-objective UAV mission planning using evolutionary computation
Proceedings of the 40th Conference on Winter Simulation
Modelling and Evaluation of a Game-Theory Approach for Airborne Conflict Resolution in Omnet++
DEPEND '09 Proceedings of the 2009 Second International Conference on Dependability
Decentralized Cooperative Policy for Conflict Resolution in Multivehicle Systems
IEEE Transactions on Robotics
A review of conflict detection and resolution modeling methods
IEEE Transactions on Intelligent Transportation Systems
IEEE Transactions on Intelligent Transportation Systems
Proceedings of the 1st International Conference on Application and Theory of Automation in Command and Control Systems
Efficient conflict resolution method in air traffic management based on the speed assignment
Proceedings of the 2nd International Conference on Application and Theory of Automation in Command and Control Systems
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This paper presents the Anytime Stochastic Conflict Detection and Resolution system (ASCDR), which automatically identifies conflicts between multiple aircraft and proposes the most effective solution 4D trajectory considering the available computation time. The system detects conflicts using an algorithm based on axis-aligned minimum bounding box and resolves them cooperatively using a collision-free 4D trajectory planning algorithm based on a roundabout fast initial solution and a stochastic optimization technique named Particle Swarm Optimization (PSO) to modify the 4D initial trajectories of the aircraft with an overall minimum cost. Moreover, an anytime approach using PSO is applied because determining optimal trajectories with short time intervals in the flight phase is not feasible. Thus, trajectories whose quality improves when available computation time increases are yielded. The method could be applied to Medium-Term and even Short-Term Conflict Detection and Resolution depending on the look-ahead times. The method has been validated with simulations in scenarios with multiple aerial vehicles in a common airspace.