@inproceedings{faea9eb19f9a48ad8606efe5ce18f202,
title = "Collision avoidance based on line-of-sight angle",
abstract = "This paper addresses the problem of collision avoidance for fixed-wing unmanned aerial vehicles. The angular velocity of the aircraft is adjusted in order to avert a possible collision with cooperative or uncooperative obstacles. The novelty of this work is that the control law uses only the line-of-sight angle as feedback, which can be obtained from an inertial measurement unit and a gimbaled camera mounted onboard the vehicle. This work aims at providing a solution to the collision avoidance problem for small low-cost unmanned aerial platforms, which are not equipped with sensors capable of measuring data such as position and velocity of the obstacle. This problem of practical relevance is faced from a theoretical standpoint. A Lyapunov based analysis is outlined, which provides safety guarantees under a given set of assumptions that the obstacle must satisfy. Simulation results are presented to validate the theoretical findings.",
keywords = "Cameras, Collision avoidance, Position measurement, Robot sensing systems, Safety, Vehicles",
author = "Venanzio Cichella and Thiago Marinho and Dusan Stipanovi{\'c} and Naira Hovakimyan and Isaac Kaminer and Anna Trujillo",
note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 54th IEEE Conference on Decision and Control, CDC 2015 ; Conference date: 15-12-2015 Through 18-12-2015",
year = "2015",
month = feb,
day = "8",
doi = "10.1109/CDC.2015.7403287",
language = "English (US)",
series = "Proceedings of the IEEE Conference on Decision and Control",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "6779--6784",
booktitle = "54rd IEEE Conference on Decision and Control,CDC 2015",
address = "United States",
}