Aerial Robotics: State-based Conflict Detection and Resolution (Detect and Avoid) in High Traffic Densities and Complexities

Aerial Robotics: State-based Conflict Detection and Resolution (Detect and Avoid) in High Traffic Densities and Complexities

Hoekstra, J.M. (TU Delft Control & Operations)
Ellerbroek, J. (TU Delft Control & Simulation)

Control & Operations

2021

Purpose of Review A lot of research into decentralised, state-based conflict detection and resolution, or detect and avoid algorithms has been executed. This paper explains the essential properties of state-based conflict detection and reviews the work in the context of applications for not only manned but also unmanned aerial vehicles, where this might be applied relatively soon. Recent Findings Lately, based on several reviews of a variety of published algorithms, a selection has been implemented and simulated in extremely high traffic densities for comparison. Summary The modified voltage potential has been surprisingly efficient, even compared with more complex algorithms or adaptations, as is apparent from looking at macroscopic metrics like domino effect, efficiency and safety. This indicates that to this date, it is so far the most suitable algorithm for the detect and avoid role for unmanned aerial vehicles in urban airspaces, or other areas where a high density is expected.

Detect and avoid
Conflict detection
Conflict resolution
Modified voltage potential
Geovectoring
Urban traffic management
UTM
U-space
Capacity management
UAV
Drones

http://resolver.tudelft.nl/uuid:3bf9fca2-eae0-4d58-a19c-3617da6659ba

https://doi.org/10.1007/s43154-021-00061-6

Current Robotics Reports, 2, 297-307

Institutional Repository

journal article

© 2021 J.M. Hoekstra, J. Ellerbroek