Multi-UAV collision avoidance with separation assurance under uncertainties

This paper presents a collision avoidance method for multiple UAVs and other non-cooperative aircraft based on velocity planning and taking into account the trajectory prediction under uncertainties. The proposed method finds a safe trajectory from the predicted trajectory modifying the velocity profile of the different co-operative vehicles involved in the collision. A particle filter is used to predict the trajectories under uncertainties dealing with the influence of different sources of uncertainty such as the atmospheric conditions, the UAV model and the limitations of the sensors and control system on board the UAV.