This paper presents a game theoretic approach to collision avoidance of multirotor un-manned aerial vehicles (UAVs). The approach is intended for use in a cooperative mission system that includes trajectory generation, path-following, and time-coordination. Under the given conditions, a priori bounds are provided for the deviation from the path due to collision avoidance. The trajectory generator can then take this bound into account, along with the path-following and time-coordination bounds, in order to guarantee that cooperative vehicles using these algorithms will maintain some pre-specified separation in space-time. Simulation results demonstrate the approach with UAVs considered as both the cooperative agents and the obstacles.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference
PublisherAmerican Institute of Aeronautics and Astronautics Inc, AIAA
ISBN (Print)9781624103391
StatePublished - 2015
EventAIAA Guidance, Navigation, and Control Conference, 2015 - Kissimmee, United States
Duration: Jan 5 2015Jan 9 2015

Publication series

NameAIAA Guidance, Navigation, and Control Conference, 2013


OtherAIAA Guidance, Navigation, and Control Conference, 2015
Country/TerritoryUnited States

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Aerospace Engineering
  • Control and Systems Engineering


Dive into the research topics of 'Collision avoidance: A game theoretic approach'. Together they form a unique fingerprint.

Cite this