This paper presents a distributed consensus algorithm for autonomous merging and spacing that enables unmanned aircraft systems (UAS) to coordinate their passage through an aerial intersection (i.e., merging fix) via a distributed control mechanism. The algorithm is incorporated into the Independent Configurable Architecture for Reliable Operations of Unmanned Systems (ICAROUS). In-trail spacing between aircraft is achieved with the integration of sense and avoid functionality (SAA) within the ICAROUS framework. This approach allows vehicles to maintain required spacing while entering or exiting the merging fix. Enabling autonomously coordinating vehicles in merging and spacing operations is a key capability in facilitating vehicle traffic in urban airspace and air-mobility operations involving small UAS and other Electrical-Vertical Takeoff/Landing (E-VTOL) vehicles.
A Decentralized Framework to Support UAS Merging and Spacing Operations in Urban Canyons
2020-09-01
715817 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch