Multi-party Collision Avoidance among Unmanned Aerial Vehicles

This paper addresses the problem of distributed cooperative collision avoidance that supports efficient utilization of air space shared by several autonomous unmanned aerial vehicles. The novel multi-party collision avoidance (MPCA) algorithm is described. It is compared to the iterative peer-to-peer collision avoidance (IPPCA) algorithm that iteratively optimizes social welfare. The paper provides a set of experiments and a comparison of different collision avoidance mechanisms in a multi-agent model of air traffic.