Obstacle avoidance under relative localization uncertainty

  • Yang Lyu
  • Quan PanEmail author
  • Jinwen Hu
  • Chunhui Zhao



This work was supported by National Natural Science Foundation of China (Grant Nos. 61603303, 61473230), Natural Science Foundation of Shaanxi Province (Grant Nos. 2017JQ6005, 2017JM6027), China Postdoctoral Science Foundation (Grant No. 2017M610650), and Fundamental Research Funds for the Central Universities (Grant No. 3102017JQ02011).

Supplementary material

Supplementary material, approximately 30.8 MB.

11432_2018_9760_MOESM2_ESM.pdf (1.4 mb)
Obstacle Avoidance Under Relative Localization Uncertainty
11432_2018_9760_MOESM3_ESM.pdf (254 kb)
Obstacle Avoidance Under Relative Localization Uncertainty


  1. 1.
    Kuriki Y, Namerikawa T. Consensus-based cooperative formation control with collision avoidance for a multi-UAV system. In: Proceedings of 2014 American Control Conference (ACC), 2014. 2077–2082CrossRefGoogle Scholar
  2. 2.
    Sunberg Z N, Kochenderfer M J, Pavone M. Optimized and trusted collision avoidance for unmanned aerial vehicles using approximate dynamic programming. In: Processding of 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, 2016. 1455–1461CrossRefGoogle Scholar
  3. 3.
    Carbone C, Ciniglio U, Corraro F, et al. A novel 3D geometric algorithm for aircraft autonomous collision avoidance. In: Proceedings of the 45th IEEE Conference on Decision and Control, San Diego, 2006. 1580–1585CrossRefGoogle Scholar
  4. 4.
    Lai J, Mejias L, Ford J J. Airborne vision-based collision-detection system. J Field Robot, 2011, 28: 137–157CrossRefzbMATHGoogle Scholar
  5. 5.
    Accardo D, Fasano G, Forlenza L, et al. Flight test of a radar-based tracking system for UAS sense and avoid. IEEE Trans Aerosp Electron Syst, 2013, 49: 1139–1160CrossRefGoogle Scholar
  6. 6.
    Andersson O, Wzorek M, Rudol P, et al. Modelpredictive control with stochastic collision avoidance using Bayesian policy optimization. In: Proceedings of IEEE International Conference on Robotics and Automation (ICRA), 2016. 4597–4604Google Scholar
  7. 7.
    Hennes D, Meeussen W, Tuyls K. Multi-robot collision avoidance with localization uncertainty. In: Proceedings of International Conference on Autonomous Agents and Multiagent Systems, Singapore, 2016. 147–154Google Scholar
  8. 8.
    Alejo D, Conde R, Cobano J A, et al. Multi-UAV collision avoidance with separation assurance under uncertainties. In: Proceedings of IEEE International Conference on Mechatronics, 2009. 1–6Google Scholar
  9. 9.
    Wang S C, Lyu Y, Ren W. Unscented-transformationbased distributed nonlinear state estimation: algorithm, analysis, and experiments. IEEE Trans Contr Syst Technol, 2018. doi: 10.1109/TCST.2018.2847290Google Scholar

Copyright information

© Science China Press and Springer-Verlag GmbH Germany, part of Springer Nature 2019

Authors and Affiliations

  1. 1.Key Laboratory of Information Fusion Technology, Ministry of Education, School of AutomationNorthwestern Polytechnical UniversityXi’anChina

Personalised recommendations