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Cooperative conflict resolution by velocity obstacle method
2014 UKACC International Conference on Control (CONTROL), 2014© 2014 IEEE. Automated and more efficient methods for resolution of conflicts between aircraft are necessary to support the sustained growth of air traffic. Distributed optimization is one of the proposed conflict resolution methods which can improve efficiency; but, sometimes it imposes an unequal burden on involved agents.
Fatemeh Asadi, Arthur Richards
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The curvature-velocity method for local obstacle avoidance
Proceedings of IEEE International Conference on Robotics and Automation, 2002We present a new method for local obstacle avoidance by indoor mobile robots that formulates the problem as one of constrained optimization in velocity space. Constraints that stem from physical limitations (velocities and accelerations) and the environment (the configuration of obstacles) are placed on the translational and rotational velocities of ...
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Three-Dimensional Velocity Obstacle Method for UAV's Uncoordinated Avoidance Maneuver
AIAA Guidance, Navigation, and Control Conference, 2016This paper proposes a novel avoidance method called the Three-Dimensional Velocity Obstacle (3DVO) method. The method is designed for Unmanned Aerial Vehicle (UAV) applications, in particular to autonomously handle uncoordinated encounters in an integrated airspace, by exploiting the limited space in a three-dimensional manner.
Jenie, Y.I. (author) +4 more
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APF Method of Dynamic Obstacle Avoidance with Relative Velocity
Applied and Computational EngineeringThe Artificial Potential Field (APF) method is a widely adopted approach in autonomous mobile robot path planning due to its mathematical simplicity and computational efficiency. However, its application in dynamic obstacle avoidance remains limited by the static assumptions in its algorithmic logic, leading to challenges in realistic scenarios.
Yonghao Shu, Dehan Shen, Mohan Chen
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Hybrid Motion Planner Integrating Global Voronoi Diagrams and Local Velocity Obstacle Method
2018 European Control Conference (ECC), 2018Global and local path planning are a classic research field in robotics and are key elements for the development of automated warehouse. Velocity Obstacle (VO) and Voronoi Diagrams (VD) are well known methods in autonomous navigation. VO provides for each autonomous vehicle a set of available velocities ensuring collision-free trajectory for multi ...
PICCINELLI, NICOLA, Riccardo Muradore
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Velocity Obstacle Method for Non-cooperative Autonomous Collision Avoidance System for UAVs
AIAA Guidance, Navigation, and Control Conference, 2014Unmanned Aerial Vehicles (UAVs) are required to have Autonomous Collision Avoidance System (ACAS) to resolve conflicts, especially when flying in the National Airspace System (NAS). This paper focused on the non-cooperative concept for avoidance, where UAVs face rogue obstacle that does not cooperatively share their flight data, nor they follows the ...
Yazdi I. Jenie +3 more
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Multiple Moving Obstacles Avoidance for USV using Velocity Obstacle Method
2021 IEEE International Conference on Unmanned Systems (ICUS), 2021Jiayuan Zhuang +5 more
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Motion planning for mobile robots using the Collidable Velocity Obstacles method
2022 30th Mediterranean Conference on Control and Automation (MED), 2022Zoltán Gyenes +1 more
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Motion Planning for Mobile Robots using the Human Tracking Velocity Obstacles Method
Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics, 2022Zoltán Gyenes +4 more
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