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Multiple UAV Rendezvous with Collision Avoidance

Joel George, Debasish Ghose

Abstract


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.

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References


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DOI: http://dx.doi.org/10.21535%2FProICIUS.2010.v6.489

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