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dc.creatorFerrera, Eduardoes
dc.creatorAlcántara Marín, Alfonsoes
dc.creatorCapitán Fernández, Jesúses
dc.creatorRodríguez Castaño, Ángeles
dc.creatorMarrón, Pedroes
dc.creatorOllero Baturone, Aníbales
dc.date.accessioned2019-01-14T08:47:21Z
dc.date.available2019-01-14T08:47:21Z
dc.date.issued2018-11-23
dc.identifier.citationFerrera, E., Alcántara, A., Capitán Fernández, J., Rodríguez Castaño, Á., Marrón, P. y Ollero Baturone, A. (2018). Decentralized 3D Collision Avoidance for Multiple UAVs in Outdoor Environments. Sensors, 18 (12), 4101-1-4101-20.
dc.identifier.issn1424-8220es
dc.identifier.urihttps://hdl.handle.net/11441/81492
dc.description.abstractThe use of multiple aerial vehicles for autonomous missions is turning into commonplace. In many of these applications, the Unmanned Aerial Vehicles (UAVs) have to cooperate and navigate in a shared airspace, becoming 3D collision avoidance a relevant issue. Outdoor scenarios impose additional challenges: (i) accurate positioning systems are costly; (ii) communication can be unreliable or delayed; and (iii) external conditions like wind gusts affect UAVs’ maneuverability. In this paper, we present 3D-SWAP, a decentralized algorithm for 3D collision avoidance with multiple UAVs. 3D-SWAP operates reactively without high computational requirements and allows UAVs to integrate measurements from their local sensors with positions of other teammates within communication range. We tested 3D-SWAP with our team of custom-designed UAVs. First, we used a Software-In-The-Loop simulator for system integration and evaluation. Second, we run field experiments with up to three UAVs in an outdoor scenario with uncontrolled conditions (i.e., noisy positioning systems, wind gusts, etc). We report our results and our procedures for this field experimentation.es
dc.description.sponsorshipEuropean Union’s Horizon 2020 research and innovation programme No 731667 (MULTIDRONE)es
dc.formatapplication/pdfes
dc.language.isoenges
dc.relation.ispartofSensors, 18 (12), 4101-1-4101-20.
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internacional*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.subjectMulti-UAVes
dc.subjectCollision avoidancees
dc.subjectDecentralized coordinationes
dc.titleDecentralized 3D Collision Avoidance for Multiple UAVs in Outdoor Environmentses
dc.typeinfo:eu-repo/semantics/articlees
dcterms.identifierhttps://ror.org/03yxnpp24
dc.type.versioninfo:eu-repo/semantics/publishedVersiones
dc.rights.accessrightsinfo:eu-repo/semantics/openAccesses
dc.contributor.affiliationUniversidad de Sevilla. Departamento de Ingeniería de Sistemas y Automáticaes
dc.relation.projectID731667 (MULTIDRONE)es
dc.relation.publisherversionhttp://dx.doi.org/10.3390/s18124101es
dc.identifier.doi10.3390/s18124101es
dc.contributor.groupUniversidad de Sevilla. TEP151: Robotica, Vision y Controles
idus.format.extent20 p.es
dc.journaltitleSensorses
dc.publication.volumen18es
dc.publication.issue12es
dc.publication.initialPage4101-1es
dc.publication.endPage4101-20es
dc.contributor.funderEuropean Union (UE). H2020

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