This paper presents a collision-free path planning method for an aerial vehicle sharing airspace with other vehicles. It is based on grid models and genetic algorithms to find safe trajectories. Monte-Carlo used evaluate the best predicted trajectories considering different sources of uncertainty such as wind, inaccuracies in model limitations on-board sensors control system.

This paper presents a collision avoidance method for multiple UAVs and other non-cooperative aircraft based on velocity planning taking into account the trajectory prediction under uncertainties. The proposed finds safe from predicted modifying profile of different co-operative vehicles involved in collision. A particle filter is used to predict trajectories uncertainties dealing with influence sources uncertainty such as atmospheric conditions, UAV model limitations sensors control system board UAV.

This paper presents a new system which automatically identifies conflicts between multiple UAVs (Unmanned Aerial Vehicles) and proposes the most effective solution considering available computation time. The detects using an algorithm based on axis-aligned minimum bounding box resolves them cooperatively collision-free trajectory planning simple one-at-a-time strategy to quickly compute feasible but non-optimal initial stochastic optimization technique named Particle Swarm Optimization (PSO)...

This paper presents a system for identification of wind features, such as gusts and shear. These are particular interest in the context energy-efficient navigation Small Unmanned Aerial Systems (UAS). The proposed generates real-time vector estimates novel algorithm to generate field predictions. Estimations based on integration an off-the-shelf airspeed readings so-called direct approach. Wind predictions use atmospheric models characterize with different statistical analyses. During...

This paper presents a collision avoidance algorithm for multiple aerial vehicle systems to be applied in real-time. The proposed is based on the 3D-Optimal Reciprocal Collision Avoidance (ORCA) algorithm. Several improvements have been implemented such as considering dynamic constraints of UAV model and static obstacles, so it can used realistic environments. has integrated ROS framework tested with up eight Unmanned Aerial Vehicles (UAVs). simulations environment performed, including long...

This paper addresses the material handling problem (MHS) in warehouse automation by proposing a system that uses an automated guided vehicle (AGV) industrial environments. The aim is to optimize picking task with respect manual operation paint factory. work describes whole perform all automatic tasks. process controlled Manufacturing Process Management System (MPMS) and autonomous co-worker robot execute mission partially known navigation implemented safe robust. It considers people...

This paper presents a new method for estimation and identification of shear wind discrete gusts previously unknown field by using an Unmanned Aircraft System (UAS). Wind is key in energy-efficient trajectory planning dynamic soaring applications. The research proposes approach mapping complete from the collected data. Therefore, generated map also describes areas where UAS has not passed through. proposed consists next steps: 1) vector estimated each position; 2) data are fitted into Weibull...

This paper presents a system for collision-free trajectory planning with multiple Unmanned Aerial Vehicles (UAVs) which automatically identifies conflicts among them. After detecting between UAVs, the resolves them cooperatively using algorithm based on stochastic optimization technique named Particle Swarm Optimization (PSO). The new implementation of PSO algorithm, Maneuver Selection (MS-PSO), improvements respect to previous implementations. execution time is reduced because dimension...

This paper presents the Anytime Stochastic Conflict Detection and Resolution system (ASCDR), which automatically identifies conflicts between multiple aircraft proposes most effective solution 4D trajectory considering available computation time. The detects using an algorithm based on axis-aligned minimum bounding box resolves them cooperatively a collision-free planning roundabout fast initial stochastic optimization technique named Particle Swarm Optimization (PSO) to modify trajectories...

This paper presents a cooperative system architecture that extends the flight duration of multiple gliding fixed-wing Unmanned Aerial Vehicles (UAVs) for long endurance missions. The missions are defined by set Points Interest (PoI) and UAVs should pass through them. A module to detect identify thermals is implemented exploit their energy extend duration, known as static soaring. collision-free trajectory planner based on RRT∗ (Optimal Rapidly-exploring Random Trees) planning algorithm...

This paper presents a Ground Control Station based on the Robot Operating System (ROS) which has been developed in order to monitor highly automated multi-UAV missions. The proposed system designed easily perform Hardware Loop (HIL) simulations. allows test desired algorithms an environment as close possible one found real experimentation, will reduce costs related field experiments. architecture of is fully open source software, protocols and hardware. Furthermore new user interface provide...

This paper addresses the problem of extending flight duration cooperative missions with multiple gliding fixed-wing UAVs by using energy that comes from static soaring. We consider exploration where should pass through a set Point Interest (PoI) presence thermals in space. These can be exploited to provide terms altitude for each UAV. The objective mission is extend UAV explore environment without landing and decreasing time perform mission. An algorithm named Bounded Recursive Heuristic...

This paper presents a novel method for wind characterization and mapping by using an Unmanned Aircraft System (UAS). The generation of map is vital in energy-efficient trajectory planning efficient trajectories dynamic soaring applications to detect the shear layer. Firstly, two methods estimate parameters that define unknown field (wind speed direction) UAS are analyzed. best selected fitting estimated data into Weibull probability density function. obtained used extrapolate finite grid....