The aircraft conflict detection and resolution problem has been addressed with a wide range of centralised methods in the past few decades, e.g. constraint programming, mathematical programming or metaheuristics. In context autonomous, decentralized collision avoidance without explicit coordination, geometric provide an elegant, cost-effective approach to avoid collisions between mobile agents,...

With the dramatic development of small unmanned aircraft systems (sUAS), how to ensure sUAS safety operation has been a growing concern. This article proposes fast probabilistic collision detection method for based on probability density function approximations. Firstly, cylindrical zones and obstacles are established by geometrical methods simplifying modeling, instantaneous is expressed tripl...

Unmanned vehicles (air-, ground-, and sea-based), or mobile robots, have become increasingly important for both civilian and military applications and both intelligence and autonomy are important for these vehicles and their continued success. Many of these vehicles, however, currently require significant human supervision. For example, the Predator and GlobalHawk are essentially remotely pilot...

Unmanned Aircraft Systems require an ability to sense and avoid other air traffic to gain access to civil airspace and meet requirements in civil aviation regulations. One sense and avoid function is self separation, which requires that aircraft remain “well clear.” An approach is proposed in this paper to treat well clear as a separation standard, thus posing it as a relative state between air...

Path planning for fixed-wing aircraft in obstacle rich environments requires the consideration of the motion constraints of the aircraft. Most existing motion planning algorithms for systems with dynamics are single query planners, which leads to a large computation overhead if multiple path planning problems are solved. This paper presents a roadmapbased multi-query path planner which generate...