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Drones
Special Issues
Flight Control and Collision Avoidance of UAVs
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Flight Control and Collision Avoidance of UAVs

A special issue of Drones (ISSN 2504-446X). This special issue belongs to the section "Drone Design and Development".

Deadline for manuscript submissions: 15 April 2025 | Viewed by 8373

Special Issue Editors

Dr. Rodney Swee Huat Teo

E-Mail Website
Guest Editor
Temasek Laboratories, National University of Singapore, Singapore
Interests: autonomous UAVs; collision avoidance; multi-UAV coordination
Prof. Dr. Sunan Huang

E-Mail Website
Guest Editor
Temasek Laboratories, National University of Singapore, Singapore, Singapore
Interests: fault diagnosis and fault-tolerant control; adaptive control; collision avoidance and control of multi-UAVs
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

This Special Issue focuses on flight control and collision avoidance in two scenarios. The first scenario involves small-to-large UAVs operating in airspace way above buildings and into airspace where manned aircraft operate. In such a scenario, UAVs need to avoid each other, tall structures, terrain, and even manned aircraft. The second scenario involves micro and mini UAVs operating among buildings and vegetation. In this setting, UAVs need to avoid static obstacles such as trees, vehicles, buildings, lamp posts and even other UAVs. In both cases, flight control and collision avoidance are critical for safe operations. 

The goal of this Special Issue is to collect papers (original research articles and review papers) that provide insights about the state-of-the-art in flight control and collision avoidance in enabling safe UAV operations in the above two scenarios. 

This Special Issue will welcome manuscripts that address the following themes: 

  • detection of obstacles and other aircraft in challenging conditions. This covers very hard to detect objects like wires, small dynamic objects against cluttered background and poor visibility conditions like smoke, dust, rain, fog, low-to-zero light, and scenes with high dynamic range. It also covers situations where flight speed and rotation rates are high, causing motion blur
  • prediction of other aircraft motion via determining attitude and flight direction of other UAVs
  • multiple aircraft tracking
  • precise maneuvering to avoid collision such as tight sensor–controller integration
  • safety verification
  • safe flight control decision under uncertainty from sensors, other aircraft actions
  • achieving near human flight performance and safety

We look forward to receiving your original research articles and reviews.

Dr. Rodney Swee Huat Teo
Prof. Dr. Sunan Huang
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Drones is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2600 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • artificial intelligence
  • autonomous navigation
  • collision avoidance
  • guidance systems
  • computer vision
  • obstacle detection
  • decision making under uncertainty
  • safety verification
  • robust control
  • multi-object tracking and association
  • visual servoing
  • conflict prediction
  • conflict resolution
  • collision checking
  • risk assessment

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  • Greater discoverability: Special Issues support the reach and impact of scientific research. Articles in Special Issues are more discoverable and cited more frequently.
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Further information on MDPI's Special Issue polices can be found here.

Published Papers (6 papers)

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Research

27 pages, 30735 KiB  
Article
A Cloud Detection System for UAV Sense and Avoid: Analysis of a Monocular Approach in Simulation and Flight Tests
by Adrian Dudek and Peter Stütz
Drones 2025, 9(1), 55; https://doi.org/10.3390/drones9010055 - 15 Jan 2025
Viewed by 478
Abstract
In order to contribute to the operation of unmanned aerial vehicles (UAVs) according to visual flight rules (VFR), this article proposes a monocular approach for cloud detection using an electro-optical sensor. Cloud avoidance is motivated by several factors, including improving visibility for collision [...] Read more.
In order to contribute to the operation of unmanned aerial vehicles (UAVs) according to visual flight rules (VFR), this article proposes a monocular approach for cloud detection using an electro-optical sensor. Cloud avoidance is motivated by several factors, including improving visibility for collision prevention and reducing the risks of icing and turbulence. The described workflow is based on parallelized detection, tracking and triangulation of features with prior segmentation of clouds in the image. As output, the system generates a cloud occupancy grid of the aircraft’s vicinity, which can be used for cloud avoidance calculations afterwards. The proposed methodology was tested in simulation and flight experiments. With the aim of developing cloud segmentation methods, datasets were created, one of which was made publicly available and features 5488 labeled, augmented cloud images from a real flight experiment. The trained segmentation models based on the YOLOv8 framework are able to separate clouds from the background even under challenging environmental conditions. For a performance analysis of the subsequent cloud position estimation stage, calculated and actual cloud positions are compared and feature evaluation metrics are applied. The investigations demonstrate the functionality of the approach, even if challenges become apparent under real flight conditions. Full article
(This article belongs to the Special Issue Flight Control and Collision Avoidance of UAVs)
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22 pages, 4090 KiB  
Article
Visual Servoing Using Sliding-Mode Control with Dynamic Compensation for UAVs’ Tracking of Moving Targets
by Christian P. Carvajal, Víctor H. Andaluz, José Varela-Aldás, Flavio Roberti, Carolina Del-Valle-Soto and Ricardo Carelli
Drones 2024, 8(12), 730; https://doi.org/10.3390/drones8120730 - 2 Dec 2024
Viewed by 640
Abstract
An Image-Based Visual Servoing Control (IBVS) structure for target tracking by Unmanned Aerial Vehicles (UAVs) is presented. The scheme contains two stages. The first one is a sliding-model controller (SMC) that allows one to track a target with a UAV; the control strategy [...] Read more.
An Image-Based Visual Servoing Control (IBVS) structure for target tracking by Unmanned Aerial Vehicles (UAVs) is presented. The scheme contains two stages. The first one is a sliding-model controller (SMC) that allows one to track a target with a UAV; the control strategy is designed in the function of the image. The proposed SMC control strategy is commonly used in control systems that present high non-linearities and that are always exposed to external disturbances; these disturbances can be caused by environmental conditions or induced by the estimation of the position and/or velocity of the target to be tracked. In the second instance, a controller is placed to compensate the UAV dynamics; this is a controller that allows one to compensate the velocity errors that are produced by the dynamic effects of the UAV. In addition, the corresponding stability analysis of the sliding mode-based visual servo controller and the sliding mode dynamic compensation control is presented. The proposed control scheme employs the kinematics and dynamics of the robot by presenting a cascade control based on the same control strategy. In order to evaluate the proposed scheme for tracking moving targets, experimental tests are carried out in a semi-structured working environment with the hexarotor-type aerial robot. For detection and image processing, the Opencv C++ library is used; the data are published in an ROS topic at a frequency of 50 Hz. The robot controller is implemented in the mathematical software Matlab. Full article
(This article belongs to the Special Issue Flight Control and Collision Avoidance of UAVs)
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18 pages, 3597 KiB  
Article
Safety-Critical Fixed-Time Formation Control of Quadrotor UAVs with Disturbance Based on Robust Control Barrier Functions
by Zilong Song and Haocai Huang
Drones 2024, 8(11), 618; https://doi.org/10.3390/drones8110618 - 28 Oct 2024
Viewed by 1013
Abstract
This paper focuses on the safety-critical fixed-time formation control of quadrotor UAVs with disturbance and obstacle collision risk. The control scheme is organized in a distributed manner, with the leader’s position and velocity being estimated simultaneously by a fixed-time distributed observer. Meanwhile, a [...] Read more.
This paper focuses on the safety-critical fixed-time formation control of quadrotor UAVs with disturbance and obstacle collision risk. The control scheme is organized in a distributed manner, with the leader’s position and velocity being estimated simultaneously by a fixed-time distributed observer. Meanwhile, a disturbance observer that combines fixed-time control theory and sliding mode control is designed to estimate the external disturbance. Based on these techniques, we design a nominal control law to drive UAVs to track the desired formation in a fixed time. Regarding obstacle avoidance, we first construct safety constraints using control barrier functions (CBFs). Then, obstacle avoidance can be achieved by solving an optimization problem with these safety constraints, thus minimally affecting tracking performance. The main contributions of this process are twofold. First, an exponential CBF is provided to deal with the UAV model with a high relative degree. Moreover, a robust exponential CBF is designed for UAVs with disturbance, which provides robust safety constraints to ensure obstacle avoidance despite disturbance. Finally, simulation results show the validity of the proposed method. Full article
(This article belongs to the Special Issue Flight Control and Collision Avoidance of UAVs)
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21 pages, 2092 KiB  
Article
Networked Control of a Small Drone Resilient to Cyber Attacks
by Octavian Ștefan and Alexandru Codrean
Drones 2024, 8(10), 552; https://doi.org/10.3390/drones8100552 - 5 Oct 2024
Viewed by 1091
Abstract
With increasing advances in networked systems and networked control systems in everyday life, the problem of cybersecurity becomes crucial. Moreover, in some applications like small UAVs, the safety and integrity of the system and its surroundings are highly susceptible to cyberattacks. In this [...] Read more.
With increasing advances in networked systems and networked control systems in everyday life, the problem of cybersecurity becomes crucial. Moreover, in some applications like small UAVs, the safety and integrity of the system and its surroundings are highly susceptible to cyberattacks. In this context, the current paper proposes a resilient networked control approach. The control structure is split into an inner and an outer loop. The outer position control loop uses measurements from motion cameras connected to a remote computer, while the commands are sent through the network. We consider the resilience problem for two types of cyberattacks: denial of service (DoS), emulated as an increase in the network transmission delay, and man in the middle (MitM), emulated as additive input disturbances. The mitigation for the DoS attack is performed through the help of a reference governor (RG), which uses the delay estimates and the system’s model to predict future safety violations and adapts the reference accordingly. The MitM attack is mitigated by an unknown input disturbance observer (UIDO) together with a RG. Experimental results on a Parrot Mambo drone show that both types of attacks are rejected successfully, ensuring a safe and stable flight. Full article
(This article belongs to the Special Issue Flight Control and Collision Avoidance of UAVs)
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32 pages, 6060 KiB  
Article
A Fault-Tolerant Multi-Agent Reinforcement Learning Framework for Unmanned Aerial Vehicles–Unmanned Ground Vehicle Coverage Path Planning
by Mahya Ramezani, M. A. Amiri Atashgah and Alireza Rezaee
Drones 2024, 8(10), 537; https://doi.org/10.3390/drones8100537 - 30 Sep 2024
Cited by 3 | Viewed by 1853
Abstract
In this paper, we introduce a fault-tolerant multi-agent reinforcement learning framework called SERT-DQN to optimize the operations of UAVs with UGV central control in coverage path planning missions. Our approach leverages dual learning systems that combine individual agent autonomy with centralized strategic planning, [...] Read more.
In this paper, we introduce a fault-tolerant multi-agent reinforcement learning framework called SERT-DQN to optimize the operations of UAVs with UGV central control in coverage path planning missions. Our approach leverages dual learning systems that combine individual agent autonomy with centralized strategic planning, thus enhancing the efficiency of cooperative path planning missions. This framework is designed for high performance in environments with fault uncertainty detected and operational challenges such as interruptions in connectivity and compromised sensor reliability. With the integration of an innovative communication system between agents, our system appropriately handles both static and dynamic environments. Also, we introduce similarity-based shared experience replay to attain faster convergence and sample efficiency in the multi-agent system. The architecture is specially designed to respond adaptively to such irregularities by effectively showing enhanced resilience in scenarios where data integrity is impaired due to faults or the UAV faces disruptions. Simulation results indicate that our fault tolerance algorithms are very resilient and do indeed improve mission outcomes, especially under dynamic and highly uncertain operating conditions. This approach becomes critical for the most recent sensor-based research in autonomous systems. Full article
(This article belongs to the Special Issue Flight Control and Collision Avoidance of UAVs)
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32 pages, 18049 KiB  
Article
The Challenges of Blood Sample Delivery via Drones in Urban Environment: A Feasibility Study through Specific Operation Risk Assessment Methodology
by Sara Molinari, Riccardo Patriarca and Marco Ducci
Drones 2024, 8(5), 210; https://doi.org/10.3390/drones8050210 - 20 May 2024
Cited by 1 | Viewed by 2414
Abstract
In recent years, Unmanned Aircraft System (UAS) usage in the medical sector as an alternative to traditional means of goods transport has grown significantly. Even though the reduced response time achieved with UASs can be lifesaving in critical situations, their usage must comply [...] Read more.
In recent years, Unmanned Aircraft System (UAS) usage in the medical sector as an alternative to traditional means of goods transport has grown significantly. Even though the reduced response time achieved with UASs can be lifesaving in critical situations, their usage must comply with technological constraints such as range, speed and capacity, while minimizing potential risks. In this paper, the feasibility of a drone operation dedicated to the transport of blood samples in an urban area is studied through a safety risk analysis. The assessment utilizes the Specific Operation Risk Assessment (SORA) framework, in line with current European regulations, and extends it to define flight trajectories with minimal risk. A case study in the Helsinki urban area is used as a reference, with an exemplary case of commercial drone transportation of blood samples between the Töölö and Malmi Hospitals. By leveraging the drone performance capabilities and minimizing the risk for people on the ground, this approach demonstrates that medical delivery using drones in densely populated urban environments remains challenging. Nonetheless, it argues that the proposed method can enhance risk awareness and support the planning of feasible operations. Full article
(This article belongs to the Special Issue Flight Control and Collision Avoidance of UAVs)
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