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Sense and Avoid System for a MALE UAV


E.Cruck, J. Lygeros

AIAA Guidance, Navigation and Control Conference and Exhibit, Hilton Head Island, South Carolina

In this paper, we focus on the design requirements of a "Sense and Avoid" function for a Medium Altitude Long Endurance Unmanned Aerial Vehicle. We define nested zones around the UAV corresponding with safety levels ranging from "possible loss of separation" to "certain separation without any action". These regions can be used not only to specify performances of the sensing capacity, but also to design the appropriate behaviors of the guidance system. For each region, we state the guidance problems associated with the objectives of avoiding collision, ensuring separation and carrying out the mission. We formulate a conflict situation between the UAV and another traffic as a generalized pursuit-evasion game. One player is the UAV guidance system; its goal is always to ensure separation while, in certain cases, optimizing a cost associated with the maneuvers. The second player is the uncertainty on the conflicting traffic trajectory.


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% Autogenerated BibTeX entry
@InProceedings { E_CLyg:2007:IFA_2761,
    author={E.Cruck and J. Lygeros},
    title={{Sense and Avoid System for a MALE UAV}},
    booktitle={AIAA Guidance, Navigation and Control Conference and
    address={Hilton Head Island, South Carolina},
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