Multi-robot systems (MRSs) are widely applied in the fields of joint search and rescue, exploration, and carrying. To achieve cooperative tasks and guarantee physical safety, the robots should avoid inter-robot collisions as well as robot–obsta...
Flocking control for multi-agent systems exhibits promising application prospects in numerous areas including cooperative target search, environmental monitoring, disaster rescue, and intelligent transportation. To solve the problem of collision-avoi...
The operation of Unmanned Aerial Vehicles (UAVs) in civil airspace is restricted by the aviation authorities, which require full compliance with regulations that apply for manned aircraft. This paper proposes control algorithms for a collision avoida...
This paper deals with the formation control problem without collisions for second-order multi-agent systems. We propose a control strategy which consists of a bounded attractive component to ensure convergence to a specific geometrical pattern and a...
The primary challenge is to design feedback controls that enable robots to autonomously reach predetermined destinations while avoiding collisions with obstacles and other robots. Various control algorithms, such as the control barrier function-based...
Unmanned underwater vehicle-dual-manipulator systems (UVDMSs) have attracted much research due to their humanoid operation capabilities, which have the advantage of cooperative manipulations and transporting underwater objects. Meanwhile, collision a...
Symmetry and structural balance play a fundamental role in the collective behavior of networked agent systems (NASs). In particular, cluster formation tracking, representing the emergence and maintenance of symmetric group structures, has attracted s...
TCAS II is a rule-based airborne collision avoidance system (ACAS) that is used in current commercial air transport operations, and ACAS Xa is a new optimization-based system. Operational validation studies have mainly used deterministic simulations...
Driving intention, which can assist drivers to avoid dangerous emergence for the advanced driver assistant systems (ADAS), can be hardly described accurately for complex traffic environments. At present, driving intention can be mainly obtained by de...
In this paper, a new collision avoidance switching system is proposed to address the lack of adaptability of intelligent vehicles under different collision avoidance operating conditions. To ensure the rationality of the collision avoidance switching...
The vehicle model was built based on MATLAB/Simulink and Carsim, and the multi-objective active collision avoidance control algorithm considering safety and comfort was established based on a model predictive control (MPC) algorithm. The vehicle acti...
This paper investigates the formation tracking control of multiple agents with a double-integrator model and presents a novel distributed control framework composed of three items: a potential-based gradient term, a formation term, and a navigation t...
This paper investigates the cooperative formation trajectory tracking problem for heterogeneous unmanned aerial vehicle (UAV) and multiple unmanned surface vessel (USV) systems with collision avoidance performance. Firstly, a formation control protoc...
This paper provides a multi-agent coordinated control system to improve the real-time performance of intelligent vehicle active collision avoidance. At first, the functions and characteristics of longitudinal and lateral collision avoidance agents ar...
Large ships are typically with large inertia and longtime delay in motion, in prevailing collision avoidance methods, their maneuverability is generally neglected, there could be a dangerous situation if the system fails to control the ship course as...
The application of autonomous driving system (ADS) technology can significantly reduce potential accidents involving vulnerable road users (VRUs) due to driver error. This paper proposes a novel hierarchical deep reinforcement learning (DRL) framewor...
This paper presents an application to detect and track obstacles using a multilayer laser scanner. The goal of the detection system is to develop collision avoidance for the Light Rail Vehicle (LRV). The laser scanner, which is mounted in front of th...
In precision farming technology, the interest of the researchers has been focused on the applications of autonomous mobile robots for agricultural operations such as planting, inspection, spraying, and harvesting. However, each autonomous robot gener...
In recent years, safety operation issues related to the autonomous flight of unmanned aerial vehicles (UAVs) have become popular research and development topics worldwide. Among all UAV applications, multiple UAV-related applications are emerging due...
This paper proposes a low-latency and scalable architecture for Edge-Enabled Digital Twin networked control systems (E-DTNCS) aimed at multi-robot collision avoidance and remote control in dynamic and latency-sensitive environments. Traditional appro...
In the maritime industry, the systematic validation of collision avoidance systems of autonomous ships is becoming an increasingly important issue with the development of autonomous ships. The development of collision avoidance systems for autonomous...
Remotely piloted aircraft systems (RPAS) are increasingly becoming relevant actors that are flying through the airspace and will gain much more importance in the future. In order to allow for their safe integration with manned conventional traffic in...
This paper addresses the problem of path following and dynamic obstacle avoidance for an underwater biomimetic vehicle-manipulator system (UBVMS). Firstly, the general kinematic and dynamic models of underwater vehicles are presented; then, a nonline...
With the growing number of unintentional interactions occurring in underground mines, Collision Avoidance System (CAS) establishment and maintenance has become an urgent need for mining industries to enhance their risk profile and improve constructio...
This paper investigates cooperative tracking control for virtually coupled multi-train systems subject to nonlinear running resistance, bounded time-varying resistance parameters, state constraints, and actuator saturation. The theoretical contributi...
As an essential application of unmanned aerial vehicle (UAV) systems, payload transportation has garnered significant attention in recent years. Collaborative payload transportation utilizing multiple UAVs can effectively increase the payload capacit...
For multiple unmanned underwater vehicles (UUVs) systems, obstacle avoidance during cooperative operation in complex marine environments remains a challenging issue. Recent studies demonstrate the effectiveness of deep reinforcement learning (DRL) fo...
This paper deals with the containment control problem for multi-agent systems. The objective is to develop a distributed control scheme that leads a sub-group of the agents, called followers, within the convex hull that is formed by the leaders, whic...
The airworthiness certification of aerospace cyber-physical systems traditionally relies on the probabilistic safety assessment as a standard engineering methodology to quantify the potential risks associated with faults in system components. This pa...
This study addresses the heterogeneous formation control problem for cooperative unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs) operating under input quantization constraints. A unified mathematical framework is developed to har...
Advances in Unmanned Aerial Vehicles (UAVs), also known as drones, offer unprecedented opportunities to boost a wide array of large-scale Internet of Things (IoT) applications. Nevertheless, UAV platforms still face important limitations mainly relat...
The high efficiency of obstacle detection system (ODS) is essential to obtain the high performance of autonomous underwater vehicles (AUVs) carrying out a mission in a complex underwater environment. Based on the previous literature analysis, that in...
The paper introduces a proposal of an Autonomous Navigation System for Unmanned Surface Vessels. The system architecture is presented with a special emphasis on collision avoidance and maneuver auto-negotiation. For the purpose of maneuver auto-negot...
A maritime autonomous surface ship (MASS) ensures safety and effectiveness during navigation using its ability to prevent collisions with a nearby target ship (TS). This avoids the loss of human life and property. Therefore, collision avoidance of MA...
With the rapid development of autonomous collision avoidance algorithms on ships, the technical demand for the testing and verification of autonomous collision avoidance algorithms is increasing; however, the current testing of autonomous collision a...
Collision Detection and Avoidance is one of the critical technologies for fully allowing Unmanned Aerial Systems to fly in civil airspaces. Current methods evaluate only potential conflicts with other aircraft using specific parameters (e.g., time or...
The reliability of collision avoidance systems for Maritime Autonomous Surface Ships is one of the most critical factors for their safety. In particular, since many ship collisions occur in coastal areas, it is crucial to ensure the reliability of co...
With the advancing development of Advanced Air Mobility (AAM), there is a collaborative effort to increase safety in the airspace. AAM is an advancing field of aviation that aims to contribute to the safe transportation of goods and people using aeri...
Ship collision avoidance measures are important for reducing marine accidents caused by human factors and various natural environmental factors and can also prevent property loss and casualties. In recent years, various methods have been used to stud...
14 November 2026
Maritime Autonomous Surface Ships (MASSs) require timely human intervention when collision risks develop. This study presents a spatiotemporal decision-support framework that maps Velocity Obstacle (VO) collision-risk directions onto ownship-centered...
The Traffic Alert and Collision Avoidance System (TCAS) is recognized worldwide as the last resort for avoiding midair collisions. The existing TCAS can solve pairwise conflict effectively, but cannot manage multi-aircraft conflict satisfactorily, an...
An intelligent fuzzy-based control system that consists of several subsystems—a fuzzy collision evaluator, a fuzzy collision avoidance acting timing indicator, a collision-free trajectory generator, and a nonlinear adaptive fuzzy robust control...
In modern battlefields, the rapid advancement of Counter-UAV (C-UAV) technologies has made single-UAV missions increasingly difficult. This highlights the need for distributed swarm systems that can operate reliably under such threats. Among various...
With the global advancement of maritime autonomous surface ships (MASS), the critical task of verifying their key technologies, particularly in challenging conditions, becomes paramount. This study introduces a synthetic maritime traffic generation s...
Ground-based three-dimensional motion testing of space manipulators typically relies on active suspension-based gravity compensation systems. The design of such systems faces two fundamental challenges: first, how multiple suspension winch units can...
To address collision risks in teleoperated mobile robotic vehicles, this study proposes a Human–Machine Interaction-based Advanced Smooth Shared Control (ASSC) system aimed at enhancing obstacle avoidance and achieving smooth shared control bet...
Autonomous vehicles (AVs) must dynamically maintain sufficient safe distances from surrounding vehicles to ensure safety. Many existing studies have focused on collisions avoidance, such as the safety ranges in a rectangular shape that consider only...
To address the challenges of formation maintenance, collision avoidance, and cooperative navigation for multi-agent systems in shared environments, a spatio-temporal trajectory optimization method under global structural constraints and A attention-e...
Collision avoidance is one of the main tasks on board ships to ensure safety at sea. To comply with this requirement, the direct ship environment, which is often modelled as the ship’s domain, has to be kept free of other vessels and objects. This pa...
In recent years, unmanned surface vehicles (USVs) have received notable attention because of their many advantages in civilian and military applications. To improve the autonomy of USVs, this paper describes a complete automatic navigation system (AN...
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