Swarm formation morphing for congestion-aware collision avoidance

Uncertainty-Aware Reinforcement Learning for Collision Avoidance

Reinforcement learning can enable complex, adaptive behavior to be learned automatically for autonomous robotic platforms. However, practical deployment of reinforcement learning methods must contend with the fact that the training process itself can be unsafe for the robot. In this paper, we consider the specific case of a mobile robot learning to navigate an a priori unknown environment while...

Collision Avoidance for Satellites in Formation Flight

Satellites in a formation might need to maneuver to avoid potential collisions that may occur when foreign objects enter the formation, or when a satellite within the formation drifts into the path of another. In either case we seek to determine the probability of a future collision based on current state knowledge and the uncertain dynamic environment, and further to determine a control strate...

A Context-Aware Framework for Intersection Collision Avoidance

Optimal Spacecraft Formation Reconfiguration with Collision Avoidance Using Particle Swarm Optimization

Abstract. This paper pr esents an energ y-optimal trajectory planning method fo r spacecraft fo rmation reconfiguration in deep space environment using continuous lo w-thrust propulsion system. First, we emplo y the Legendre pseudospectral method (LPM) to transform the optimal reconfiguration problem to a parameter optimization nonlinear programming (NLP) problem. Then, to avoid the computation...

Congestion Pricing for Congestion Avoidance

This paper describes the use of Congestion Pricing as a means of providing Congestion Control and Di erentiated Quality of Service. The application of the proposed technique to the Internet Protocol has the advantage that it can be simply implemented using Explicit Congestion Noti cation. In particular: the network mechanism is independent of higher level protocols; the end systems can continue...