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

Roussos, G; Kyriakopoulos, KJ

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	https://dspace.lib.ntua.gr/xmlui/handle/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