Distributed Consensus to Enable Merging and Spacing of UAS in an Urban Environment
Distributed Consensus to Enable Merging and Spacing of UAS in an Urban Environment
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分布式共识以实现城市环境中无人机的合并和间隔
DOI：
10.1109/icuas.2018.8453460
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发表时间：
2018
期刊：
影响因子：
--
通讯作者：
M. Consiglio
中科院分区：
文献类型：
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作者：
Swee Balachandran;C. Muñoz;M. Consiglio
本文提出了一种新颖的方法，使接近公共交叉路口的多个无人机系统能够独立安排其到达时间，同时保持安全间隔。在公共交叉路口合并的飞机被分组到一个网络中，每架飞机向网络广播其到达时间间隔。分布式共识算法在接近交叉口的飞机中选出一个领导者，并帮助同步每架飞机接收到的信息。共识算法确保每架飞机使用相同的输入信息计算时间表。当选的领导者还决定何时必须计算时间表，这可能会在新飞机加入网络时触发。给出了说明车辆协作行为的初步结果。
This paper presents a novel approach to enable multiple Unmanned Aerial Systems approaching a common intersection to independently schedule their arrival time while maintaining a safe separation. Aircraft merging at a common intersection are grouped into a network and each aircraft broadcasts its arrival time interval to the network. A distributed consensus algorithm elects a leader among the aircraft approaching the intersection and helps synchronize the information received by each aircraft. The consensus algorithm ensures that each aircraft computes a schedule with the same input information. The elected leader also dictates when a schedule must be computed, which may be triggered when a new aircraft joins the network. Preliminary results illustrating the collaborative behavior of the vehicles are presented.