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
Data Retrieving From Heterogeneous Wireless Sensor Network Nodes Using UAVs
Journal of Intelligent and Robotic Systems
Conflict Detection and Resolution Method for Cooperating Unmanned Aerial Vehicles
Journal of Intelligent and Robotic Systems
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
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
Journal of Intelligent and Robotic Systems
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This paper presents a new system for assembly and structure construction with multiple Unmanned Aerial Vehicles (UAVs) which automatically identifies conflicts among them. The system proposes the most effective solution considering the available computation time. After detecting conflicts between UAVs, the system resolves them cooperatively using a collision-free 4D trajectory planning algorithm based on a simple one-at-a-time strategy to quickly compute a feasible but non-optimal initial solution and a stochastic optimization technique named Particle Swarm Optimization (PSO) to improve the initial solution. An anytime approach using PSO is applied. It yields trajectories whose quality improves when available computation time increases. Thus, the method could be applied in real-time depending on the available computation time. The method has been validated with simulations in scenarios with multiple UAVs in a common workspace and experiment in an indoor testbed.