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Real-time optimal collision avoidance for multiple UAVs: An embedded CCP-ADMM approach

delete2026-06-09
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PRE
AI
J
Jae-Jin Lee
G
Gyubin Park
S
Seungyeop Lee
J
Jong-Han Kim *
DOI：10.1016/j.conengprac.2026.107104delete
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Abstract

Abstract

En 中文
• Embedded CCP-ADMM trajectory optimization for multi-UAV collision avoidance. • Reusable linear-system updates and closed-form projections reduce online computation. • Head-on and intersection benchmarks compare the method with ORCA and CCP-MOSEK. • K-scaling Monte Carlo tests assess runtime, cost, feasibility, and success rate. • PILS and indoor flight tests confirm safety-distance maintenance and commanded speed-bound compliance.

Journal

Control Engineering Practice cover
Control Engineering Practice
IF:
4.6
Papers:
5.6K
Citations:
1.1W

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inha university
Scholars:
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Papers: 722
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