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Collision avoidance for unmanned aircraft using Markov Decision Processes

Published in:
AIAA Guidance, Navigation, and Control Conf., 2-5 August 2010.

Summary

Before unmanned aircraft can fly safely in civil airspace, robust airborne collision avoidance systems must be developed. Instead of hand-crafting a collision avoidance algorithm for every combination of sensor and aircraft configuration, we investigate the automatic generation of collision avoidance algorithms given models of aircraft dynamics, sensor performance, and intruder behavior. By formulating the problem of collision avoidance as a Markov Decision Process (MDP) for sensors that provide precise localization of the intruder aircraft, or a Partially Observable Markov Decision Process (POMDP) for sensors that have positional uncertainty or limited field-of-view constraints, generic MDP/POMDP solvers can be used to generate avoidance strategies that optimize a cost function that balances flight-plan deviation with collision. Experimental results demonstrate the suitability of such an approach using four different sensor modalities and a parametric aircraft performance model.
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Summary

Before unmanned aircraft can fly safely in civil airspace, robust airborne collision avoidance systems must be developed. Instead of hand-crafting a collision avoidance algorithm for every combination of sensor and aircraft configuration, we investigate the automatic generation of collision avoidance algorithms given models of aircraft dynamics, sensor performance, and intruder...

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Unmanned aircraft collision avoidance using partially observable Markov decision processes

Published in:
MIT Lincoln Laboratory Report ATC-356

Summary

Before unmanned aircraft can fly safely in civil airspace, robust airborne collision avoidance systems must be developed. Instead of hand-crafting a collision avoidance algorithm for every combination of sensor and aircraft configuration, this project investigates the automatic generation of collision avoidance logic given models of aircraft dynamics, sensor performance, and intruder behavior. By formulating the problem of collision avoidance as a partially-observable Markov decision process (POMDP), a generic POMDP solver can be used to generate avoidance strategies that optimize a cost function that balances flight-plan deviation with collision. Experimental results demonstrate the suitability of such an approach using three different sensor modalities and two aircraft performance models.
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Summary

Before unmanned aircraft can fly safely in civil airspace, robust airborne collision avoidance systems must be developed. Instead of hand-crafting a collision avoidance algorithm for every combination of sensor and aircraft configuration, this project investigates the automatic generation of collision avoidance logic given models of aircraft dynamics, sensor performance, and...

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