Open Access Open Access  Restricted Access Subscription Access

Multiple UAV Rendezvous with Collision Avoidance

Joel George, Debasish Ghose


This paper considers the problem of rendezvous of multiple Unmanned Aerial Vehicles (UAVs) doing collision avoidance maneuvers to find safe trajectories to a predetermined point of rendezvous. To achieve rendezvous, the UAVs use a consensus algorithm on their respective expected times of arrival at rendezvous point to control the velocity within some given bounds or a ‘wandering maneuver'. The efficacy of the algorithm is demonstrated through simulations. It is also shown that the rendezvous algorithm developed can be specialized to track a target from a standoff radius.

Full Text:



J. G. Manathara, P. B. Sujit, and R. W. Beard, “Multiple UAV coalitions for a search and prosecute mission,” Journal of Intelligent and Robotic Systems, 2010, (to appear). doi:10.1007/s10846-010-9439-2.

J. Lin, A. S. Morse, and B. D. O. Anderson, “The multi-agent rendezvous problem,” in Proceedings of the IEEE Conference on Decision and Control, Maui, Hawaii, 2003, pp. 1508–1513.

A. Tiwari, J. Fung, J. M. Carson, R. Bhattacharya, and R. M. Murray, “A framework for lyapunov certificates for multi-vehicle rendezvous problems,” in Proceedings of the American Control Conference, Boston, MA, 2004, pp. 5582–5587.

G. Notarstefano and F. Bullo, “Distributed consensus on enclosing shapes and minimum time rendezvous,” in Proceedings of the IEEE Conference on Decision and Control, San Deigo, California, 2006, pp. 4295–4300.

K. Das and D. Ghose, “Positional consensus in multiagent systems using broadcast control mechanisms,” in Proceedings of the American Control Conference, St. Louis, Missouri, 2009, pp. 5731–5736.

A. Sinha and D. Ghose, “Generalization of linear cyclic pursuit with application to rendezvous of multiple autonomous agents,” IEEE Transactions on Automatic Control, vol. 51, pp. 1819–1824, 2006.

G. Rattan and D. Ghose, “Follow the leader: Multiagent rendezvous under implicit leader cyclic pursuit (ILCP) law,” in Proceedings of the

International Conference and Exhibition on Aerospace Engineering, Bangalore, India, 2009, pp. 1357–1363.

T. Furukawa, F. Bourgault, H. F. D. Whyte, and G. Dissanayake, “Dynamic allocation and control of coordinated uavs to engage multiple targets in a timeoptimal manner,” in Proceedings of the IEEE Conference on Robotics and Automation, Barcelona, Spain, 2005, pp. 2353–2358.

T. W. McLain and W. R. Beard, “Coordination variables, coordination functions, and cooperative timing missions,” AIAA Journal of Guidance, Control, and Dynamics, vol. 28, pp. 150–161, 2005.

J. George and D. Ghose, “A reactive inverse PN algorithm for collision avoidance among multiple unmanned aerial vehicles,” in Proceedings of the

American Control Conference, Missouri, MO, 2009, pp. 3890–3895.



  • There are currently no refbacks.