Completely decentralised Navigation Functions for agents with finite sensing regions with application in aircraft conflict resolution

Giannis Roussos, Kostas J. Kyriakopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We develop the framework of decentralised Navigation Functions for the case of multiple agents of arbitrary shapes and sensing areas around them moving in N-dimensional space. Unlike previous approaches utilising the Navigation Functions methodology, the construction here does not rely on diffeomorphisms, thus reducing the computational cost of the algorithm. The resulting potential field is absolutely locally computable and can be easily adapted to decentralised aircraft conflict resolution, as shown in the paper. Simulation results of multi-aircraft conflict resolution are included to support the efficacy of the complete control scheme.

Original languageEnglish (US)
Title of host publication2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages7470-7475
Number of pages6
ISBN (Print)9781612848006
DOIs
StatePublished - 2011
Event2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 - Orlando, FL, United States
Duration: Dec 12 2011Dec 15 2011

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370

Other

Other2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Country/TerritoryUnited States
CityOrlando, FL
Period12/12/1112/15/11

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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