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Completely decentralised Navigation Functions for agents with finite sensing regions with application in aircraft conflict resolution

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dc.contributor.author Roussos, G en
dc.contributor.author Kyriakopoulos, KJ en
dc.date.accessioned 2014-03-01T02:52:56Z
dc.date.available 2014-03-01T02:52:56Z
dc.date.issued 2011 en
dc.identifier.issn 01912216 en
dc.identifier.uri http://hdl.handle.net/123456789/36161
dc.subject.other Aircraft conflict resolution en
dc.subject.other Arbitrary shape en
dc.subject.other Complete control en
dc.subject.other Computational costs en
dc.subject.other Conflict Resolution en
dc.subject.other Decentralised en
dc.subject.other Diffeomorphisms en
dc.subject.other Multiple agents en
dc.subject.other N-dimensional space en
dc.subject.other Navigation functions en
dc.subject.other Potential field en
dc.subject.other Sensing areas en
dc.subject.other Sensing region en
dc.subject.other Air navigation en
dc.subject.other Aircraft en
dc.subject.other Navigation en
dc.subject.other Aircraft control en
dc.title Completely decentralised Navigation Functions for agents with finite sensing regions with application in aircraft conflict resolution en
heal.type conferenceItem en
heal.identifier.primary 10.1109/CDC.2011.6160520 en
heal.identifier.secondary http://dx.doi.org/10.1109/CDC.2011.6160520 en
heal.identifier.secondary 6160520 en
heal.publicationDate 2011 en
heal.abstract We develop the framework of decentralised Navigation Functions for the case of multiple agents of arbitrary shapes and sensing areas around them moving in N-dimensional space. Unlike previous approaches utilising the Navigation Functions methodology, the construction here does not rely on diffeomorphisms, thus reducing the computational cost of the algorithm. The resulting potential field is absolutely locally computable and can be easily adapted to decentralised aircraft conflict resolution, as shown in the paper. Simulation results of multi-aircraft conflict resolution are included to support the efficacy of the complete control scheme. © 2011 IEEE. en
heal.journalName Proceedings of the IEEE Conference on Decision and Control en
dc.identifier.doi 10.1109/CDC.2011.6160520 en
dc.identifier.spage 7470 en
dc.identifier.epage 7475 en


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