Smyrnakis, M., Aitken, J.M orcid.org/0000-0003-4204-4020 and Veres, S.M. (Submitted: 2016) Collision Avoidance of Two Autonomous Quadcopters. arXiv. (Submitted)
Abstract
Traffic collision avoidance systems (TCAS) are used in order to avoid incidences of mid-air collisions between aircraft. We present a game-theoretic approach of a TCAS designed for autonomous unmanned aerial vehicles (UAVs). A variant of the canonical example of game-theoretic learning, fictitious play, is used as a coordination mechanism between the UAVs, that should choose between the alternative altitudes to fly and avoid collision. We present the implementation results of the proposed coordination mechanism in two quad-copters flying in opposite directions.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2018 The Author(s). For reuse permissions, please contact the Author(s). |
Keywords: | Robotics (cs.RO) |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 27 Apr 2018 14:06 |
Last Modified: | 27 Apr 2018 14:06 |
Published Version: | https://arxiv.org/abs/1603.05490 |
Status: | Submitted |
Refereed: | Yes |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:117727 |