D. Alejo

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Publications (2)0 Total impact

  • Conference Proceeding: Path planning based on Genetic Algorithms and the Monte-Carlo method to avoid aerial vehicle collisions under uncertainties
    J.A. Cobano, R. Conde, D. Alejo, A. Ollero
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    ABSTRACT: This paper presents a collision-free path planning method for an aerial vehicle sharing airspace with other aerial vehicles. It is based on grid models and genetic algorithms to find safe trajectories. Monte-Carlo method is used to evaluate the best predicted trajectories considering different sources of uncertainty such as the wind, the inaccuracies in the vehicle model and limitations of on-board sensors and control system.
    Robotics and Automation (ICRA), 2011 IEEE International Conference on; 06/2011
  • Conference Proceeding: Multi-UAV collision avoidance with separation assurance under uncertainties
    D. Alejo, R. Conde, J.A. Cobano, A. Ollero
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    ABSTRACT: This paper presents a collision avoidance method for multiple UAVs and other non-cooperative aircraft based on velocity planning and taking into account the trajectory prediction under uncertainties. The proposed method finds a safe trajectory from the predicted trajectory modifying the velocity profile of the different co-operative vehicles involved in the collision. A particle filter is used to predict the trajectories under uncertainties dealing with the influence of different sources of uncertainty such as the atmospheric conditions, the UAV model and the limitations of the sensors and control system on board the UAV.
    Mechatronics, 2009. ICM 2009. IEEE International Conference on; 05/2009
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