Cooperative Multi-UAV Collision Avoidance Based on a Complex Network

The conflict resolution problem in cooperative unmanned aerial vehicle (UAV) clusters sharing a three-dimensional airspace with increasing air traffic density is very important. This paper innovatively solves this problem by employing the complex network (CN) algorithm. The proposed approach allows a UAV to perform only one maneuver—that of the flight level change. The novel UAV conflict resolution is divided into two steps, corresponding to the key node selection (KS) algorithm based on the node contraction method and the sense selection (SS) algorithm based on an objective function. The efficiency of the cooperative multi-UAV collision avoidance (CA) system improved a lot due to the simple two-step collision avoidance logic. The paper compares the difference between random selection and the use of the node contraction method to select key nodes. Experiments showed that using the node contraction method to select key nodes can make the collision avoidance effect of UAVs better. The CA maneuver was validated with quantitative simulation experiments, demonstrating advantages such as minimal cost when considering the robustness of the global traffic situation, as well as significant real-time and high efficiency. The CN algorithm requires a relatively small computing time that renders the approach highly suitable for solving real-life operational situations.

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Multi-UAV Conflict Resolution with Graph Convolutional Reinforcement Learning

Applied Sciences ◽

10.3390/app12020610 ◽

2022 ◽

Vol 12 (2) ◽

pp. 610

Author(s):

Ralvi Isufaj ◽

Marsel Omeri ◽

Miquel Angel Piera

Keyword(s):

Conflict Resolution ◽

Reinforcement Learning ◽

Unmanned Aircraft ◽

Traffic Density ◽

Primary Concern ◽

Learning Problem ◽

Cooperative Agents ◽

Graph Neural Networks ◽

Expected Increase ◽

Multi Uav

Safety is the primary concern when it comes to air traffic. In-flight safety between Unmanned Aircraft Vehicles (UAVs) is ensured through pairwise separation minima, utilizing conflict detection and resolution methods. Existing methods mainly deal with pairwise conflicts, however, due to an expected increase in traffic density, encounters with more than two UAVs are likely to happen. In this paper, we model multi-UAV conflict resolution as a multiagent reinforcement learning problem. We implement an algorithm based on graph neural networks where cooperative agents can communicate to jointly generate resolution maneuvers. The model is evaluated in scenarios with 3 and 4 present agents. Results show that agents are able to successfully solve the multi-UAV conflicts through a cooperative strategy.

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A Probabilistic Model for Real-Time Semantic Prediction of Human Motion Intentions from RGBD-Data

Sensors ◽

10.3390/s21124141 ◽

2021 ◽

Vol 21 (12) ◽

pp. 4141

Author(s):

Wouter Houtman ◽

Gosse Bijlenga ◽

Elena Torta ◽

René van de Molengraft

Keyword(s):

Real Time ◽

Collision Avoidance ◽

Probabilistic Model ◽

Real Life ◽

Human Motion ◽

Model Based ◽

Multiple Hypotheses ◽

Navigation Algorithms ◽

The Right ◽

Motion Behavior

For robots to execute their navigation tasks both fast and safely in the presence of humans, it is necessary to make predictions about the route those humans intend to follow. Within this work, a model-based method is proposed that relates human motion behavior perceived from RGBD input to the constraints imposed by the environment by considering typical human routing alternatives. Multiple hypotheses about routing options of a human towards local semantic goal locations are created and validated, including explicit collision avoidance routes. It is demonstrated, with real-time, real-life experiments, that a coarse discretization based on the semantics of the environment suffices to make a proper distinction between a person going, for example, to the left or the right on an intersection. As such, a scalable and explainable solution is presented, which is suitable for incorporation within navigation algorithms.

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Distributed Cooperative Avoidance Control for Multi-Unmanned Aerial Vehicles

Actuators ◽

10.3390/act8010001 ◽

2018 ◽

Vol 8 (1) ◽

pp. 1 ◽

Cited By ~ 3

Author(s):

Sunan Huang ◽

Rodney Swee Huat Teo ◽

Wenqi Liu

Keyword(s):

Unmanned Aerial Vehicles ◽

Case Studies ◽

Collision Avoidance ◽

Hardware In The Loop ◽

Crucial Issue ◽

Communication Failure ◽

Aerial Vehicles ◽

Avoidance Control ◽

Velocity Obstacle ◽

Multi Uav

It is well-known that collision-free control is a crucial issue in the path planning of unmanned aerial vehicles (UAVs). In this paper, we explore the collision avoidance scheme in a multi-UAV system. The research is based on the concept of multi-UAV cooperation combined with information fusion. Utilizing the fused information, the velocity obstacle method is adopted to design a decentralized collision avoidance algorithm. Four case studies are presented for the demonstration of the effectiveness of the proposed method. The first two case studies are to verify if UAVs can avoid a static circular or polygonal shape obstacle. The third case is to verify if a UAV can handle a temporary communication failure. The fourth case is to verify if UAVs can avoid other moving UAVs and static obstacles. Finally, hardware-in-the-loop test is given to further illustrate the effectiveness of the proposed method.

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Formation Control with Collision Avoidance for a Multi-UAV System Using Decentralized MPC and Consensus-Based Control

SICE Journal of Control Measurement and System Integration ◽

10.9746/jcmsi.8.285 ◽

2015 ◽

Vol 8 (4) ◽

pp. 285-294 ◽

Cited By ~ 22

Author(s):

Yasuhiro KURIKI ◽

Toru NAMERIKAWA

Keyword(s):

Collision Avoidance ◽

Formation Control ◽

Multi Uav

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The Management of Conflict Resolution On Labor Wages

JURNAL CITA HUKUM ◽

10.15408/jch.v8i1.14994 ◽

2020 ◽

Vol 8 (1) ◽

Author(s):

Sarwani Sarwani ◽

RR Dewi Anggraeni ◽

Annissa Rezki

Keyword(s):

Qualitative Research ◽

Conflict Resolution ◽

Human Resources ◽

Research Methods ◽

Real Life ◽

Qualitative Research Methods ◽

Empirical Approach ◽

Labour Law ◽

The Real ◽

Personal Needs

Abstract:Every job that utilize services and human resources certainly requires a salary for payment. This fee will be used to fulfill the necessities of life, both for personal needs of workers, and other needs including household necessities. However, it is undeniable that in the reality of granting wage, it often experiences some obstacles, either caused by workers or from the company itself. Consequently, this creates a conflict that requires resolution. Therefore, it is necessary to manage this conflict resolution of labor or workers' earning according to the Indonesian labour law. This study applied qualitative research methods with a literature and empirical approach. Data are collected through the analysis of legislation and phenomenon that occured in the real life. The results of study revealed that there are still many conflicts over payment of labor wages, so the companies have to apply labor salary’s management based on applicable regulations. Thus, it is necessary to practice the resolution of disputes in this matter maximally, particularly related to the provision of a reasonable wage between the workers and the company.Keywords: Conflict Resolution, Labor Wages, Companies Abstrak:Setiap pekerjaan yang menggunakan jasa dan tenaga manusia sudah pasti membutuhkan upah untuk pembayarannya. Upah inilah yang nantinya akan digunakan untuk memenuhi kebutuhan hidup, baik pribadi pekerja, maupun kebutuhan lainnya termasuk kebutuhan rumah tangga. Namun tidak dapat dipungkiri bahwa dalam realita pemberian hak upah, kerap mengalami kendala, baik yang disebabkan dari buruhnya maupun dari pihak perusahaan pemberi upah. Sehingga hal ini menimbulkan konflik yang membutuhkan penyelesaian. Oleh karenanya dibutuhkan manajemen penyelesaian konflik sengketa pemberi upah buruh atau pekerja ini, dengan didasarkan undang-undang ketenagakerjaan Republik Indonesia. Penelitian ini menggunakan metode penelitian kualitatif dengan pendekatan literatur dan empiris. Data yang didapat melalui analisis peraturan perundang-undangan dan fenomena yang terjadi di lapangan. Hasil penelitian menyatakan bahwa masih terdapat banyak konflik pembayaran upah buruh, sehingga perusahaan harus mampu menerapkan manajemen pemberian upah layak buruh yang didasarkan aturan yang berlaku. Oleh Karena itu perlu dilakukannya praktik penyelesaian sengketa dalam persoalan ini secara maksimal, khususnya terkait pemberian upah yang layak antara pihak buruh dan perusahaan.Kata kunci: Penyelesaian Sengketa, Upah Buruh, Perusahaan

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