Publication:
Path planning and collision risk management strategy for multi-UAV systems in 3D environments

Simple item page
dc.affiliation.dptoUC3M. Departamento de Ingeniería de Sistemas y Automáticaes
dc.affiliation.grupoinvUC3M. Grupo de Investigación: Laboratorio de Robótica (Robotics Lab)es
dc.contributor.authorLópez Palomino, Blanca
dc.contributor.authorMuñoz Mendi, Javier
dc.contributor.authorQuevedo Vallejo, Fernando
dc.contributor.authorMonje Micharet, Concepción Alicia
dc.contributor.authorGarrido Bullón, Luis Santiago
dc.contributor.authorMoreno Lorente, Luis Enrique
dc.contributor.funderEuropean Commissionen
dc.date.accessioned2022-01-20T12:05:25Z
dc.date.available2022-01-20T12:05:25Z
dc.date.issued2021-07-01
dc.descriptionThis article belongs to the Special Issue Smooth Motion Planning for Autonomous Vehiclesen
dc.description.abstractMulti-UAV systems are attracting, especially in the last decade, the attention of researchers and companies of very different fields due to the great interest in developing systems capable of operating in a coordinated manner in complex scenarios and to cover and speed up applications that can be dangerous or tedious for people: search and rescue tasks, inspection of facilities, delivery of goods, surveillance, etc. Inspired by these needs, this work aims to design, implement and analyze a trajectory planning and collision avoidance strategy for multi-UAV systems in 3D environments. For this purpose, a study of the existing techniques for both problems is carried out and an innovative strategy based on Fast Marching Square¿for the planning phase¿and a simple priority-based speed control¿as the method for conflict resolution¿is proposed, together with prevention measures designed to try to limit and reduce the greatest number of conflicting situations that may occur between vehicles while they carry out their missions in a simulated 3D urban environment. The performance of the algorithm is evaluated successfully on the basis of certain conveniently chosen statistical measures that are collected throughout the simulation runs.en
dc.description.sponsorshipThis research was funded by the EUROPEAN COMMISSION: Innovation and Networks Executive Agency (INEA), through the European H2020 LABYRINTH project. Grant agreement H2020-MG-2019-TwoStages-861696.en
dc.format.extent21
dc.identifier.bibliographicCitationLópez, B., Muñoz, J., Quevedo, F., Monje, C. A., Garrido, S. & Moreno, L. E. (2021). Path Planning and Collision Risk Management Strategy for Multi-UAV Systems in 3D Environments. Sensors, 21(13), 4414.en
dc.identifier.doihttps://doi.org/10.3390/s21134414
dc.identifier.issn1424-8220
dc.identifier.publicationfirstpage4414
dc.identifier.publicationissue13
dc.identifier.publicationtitleSensorsen
dc.identifier.publicationvolume21
dc.identifier.urihttps://hdl.handle.net/10016/33926
dc.identifier.uxxiAR/0000028842
dc.language.isoengen
dc.publisherMDPIen
dc.relation.projectIDinfo:eu-repo/grantAgreement/EC/H2020/861696
dc.rights© 2021 by the authors.en
dc.rightsAtribución 3.0 España*
dc.rights.accessRightsopen accessen
dc.rights.urihttp://creativecommons.org/licenses/by/3.0/es/*
dc.subject.ecienciaRobótica e Informática Industriales
dc.subject.other3D environmenten
dc.subject.otherAutonomous vehicleen
dc.subject.otherCollision avoidanceen
dc.subject.otherFast marchingen
dc.subject.otherMulti-UAV systemsen
dc.subject.otherPath planningen
dc.subject.otherVelocity controlen
dc.titlePath planning and collision risk management strategy for multi-UAV systems in 3D environmentsen
dc.typeresearch article*
dc.type.hasVersionVoR*
dspace.entity.typePublication
Files
Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
Path_SENSORS_2021.pdf
Size:
1.36 MB
Format:
Adobe Portable Document Format
Download
Collections
DISA - LR - Artículos de Revistas
OpenAIRE: Open Access Infrastructure for Research in Europe