Decentralized algorithms for collision avoidance in airspace

The paper proposes decentralized deconfliction algorithms deployed on multiple autonomous aerial vehicles in freeflight operations. The paper provides two separate algorithms for collision avoidance - one based on the iterative peer-to-peer negotiation solving a singular collision and second based on multi-party negotiation about a cluster of collisions. The presented decentralized algorithms allow the vehicles operating in the same area to utilize the given airspace more efficiently. The algorithms have been developed and tested on a multi-agent prototype and the properties of both algorithms are discussed on a set of large scale experiments. Categories and Subject Descriptors I.2.11 [Computing Methodologies]: Artificial intelligence-Multi-agent systems; I.6 [Computing Methodologies]: Simulation and modeling General Terms Algorithms, Performance Keywords agent-based collision avoidance, autonomous aircrafts, distributed algorithm

• Type: Conference
• Year: 2008
• Where: ATAL
• Authors: David Sislák, Jiri Samek, Michal Pechoucek
• Keywords: Algorithms, ATAL 2008, Collision Avoidance, Intelligent Agents, Presented Decentralized Algorithms