Collision Avoidance

To ensure safe execution of the multi-vehicle missions, the cooperative control framework incorporates collision-avoidance methods that rely on practicably available obstacle information and ensure safe operation without compromising on the mission objectives. If feasible, the framework allows collision-avoidance without requiring vehicles to deviate from their initially planned path. Utilizing appropriately designed control laws, the framework commands the speeds of all vehicles such that they not only maintain coordination but also avoid collisions while sharing minimal information through the communication network. For scenarios where speed variation is not a feasible option for safe operations, the framework incorporates trajectory replanning algorithms that each vehicle may utilize to avoid collisions. Using Bézier curves and surfaces, these algorithms have the ability to use partial information about the obstacle’s trajectory, avoid any possible collisions, and satisfy vehicle dynamic constraints over continuous trajectories.

Related videos


Video 1: An aircraft avoids an obstacle by replanning its trajectory


Video 2: Three quadrotors perform a coordinated mission using the proposed collision avoidance algorithm


Video 3: LOS Collision Avoidance for a Nano Quadcopter vs Ironman


  1. S. B. Mehdi, R. Choe, N. Hovakimyan, Piecewise Bézier Curves for Avoiding Collisions during Multi-Vehicle Coordinated Missions, AIAA Journal of Guidance, Control and Dynamics, 2017.
  2. S. B. Mehdi, R. Choe, N. Hovakimyan, Avoiding Multiple Collisions through Path Replanning using Bézier Curves, In Proceedings of 54th IEEE Conference on Decision and Control, Osaka, Japan, 2015.
  3. S. Mehdi, R. Choe, V. Cichella, N. Hovakimyan, Collision Avoidance through Path Replanning using Bézier Curves, AIAA Guidance, Navigation, and Control Conference, Kissimmee, FL, January 2015.