Implementation of Deconfliction in Multivehicle Autonomous Systems
A. P. Melander, Nathan D. Powel, Emmett Lalish, Kristi A. Morgansen, Jung Soon Jang, John L. Vian · 2010
Abstract : The focus of the work in this paper is the implementation of a distributed deconfliction algorithm for vehicles with constraints on velocity and acceleration. The algorithm was tested on two testbeds: a quadrotor system and an underwater vehicle system. The quadrotor system has vehicles that can hover in place and move in arbitrary directions, while the vehicles in the underwater system move with a constant forward velocity and can only change direction by changing heading. Results are demonstrated for a variety of numbers of vehicles as well as types of collision directions.