Multi-UAV Conflict Resolution with Graph Convolutional Reinforcement Learning
Open Access
- 9 January 2022
- journal article
- research article
- Published by MDPI AG in Applied Sciences
- Vol. 12 (2), 610
- https://doi.org/10.3390/app12020610
Abstract
Safety is the primary concern when it comes to air traffic. In-flight safety between Unmanned Aircraft Vehicles (UAVs) is ensured through pairwise separation minima, utilizing conflict detection and resolution methods. Existing methods mainly deal with pairwise conflicts, however, due to an expected increase in traffic density, encounters with more than two UAVs are likely to happen. In this paper, we model multi-UAV conflict resolution as a multiagent reinforcement learning problem. We implement an algorithm based on graph neural networks where cooperative agents can communicate to jointly generate resolution maneuvers. The model is evaluated in scenarios with 3 and 4 present agents. Results show that agents are able to successfully solve the multi-UAV conflicts through a cooperative strategy.Funding Information
- SESAR Joint Undertaking (783287, EU-TM No TRA2017-88724-)
This publication has 18 references indexed in Scilit:
- Test analysis of a scalable UAV conflict management frameworkProceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, 2019
- Sense and avoid for small unmanned aircraft systems: Research on methods and best practicesProceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, 2019
- Improved Conflict Detection and Resolution for Service UAVs in Shared AirspaceIEEE Transactions on Vehicular Technology, 2018
- Well-Clear Recommendation for Small Unmanned Aircraft Systems Based on Unmitigated Collision RiskJournal of Air Transportation, 2018
- An Introduction to Deep Reinforcement LearningFoundations and Trends® in Machine Learning, 2018
- A Fuzzy Logic Approach for Separation Assurance and Collision Avoidance for Unmanned Aerial SystemsPublished by IntechOpen ,2017
- ICAROUS: Integrated configurable algorithms for reliable operations of unmanned systemsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2016
- UAS Traffic Management (UTM) Concept of Operations to Safely Enable Low Altitude Flight OperationsPublished by American Institute of Aeronautics and Astronautics (AIAA) ,2016
- A review of conflict detection and resolution modeling methodsIEEE Transactions on Intelligent Transportation Systems, 2000
- Dynamic programming and stochastic control processesInformation and Control, 1958