Collision avoidance among multiple aerial robots and other non-cooperative aircraft based on velocity planning

This paper presents a collision avoidance method for multiple UAV sharing the same aerial space with noncooperative aircraft based on velocity planning. The proposed method finds a safe trajectory, modifying the velocity profile of the different vehicles involved in the collision and considering mobile obstacles. The proposed method applies two steps: Search Tree and Tabu Search. The objective is to find the nearest solution to the initially planned UAVs trajectories while meeting the time constraints on the execution of the algorithms.