Robust Model Predictive Control for Aircraft Intent-Aware Collision Avoidance

2024/08/13 by Arash Bahari Kordabad, Kordabad, Arash Bahari, Andrea Da Col +7
Engineering · #Advanced Control Systems Optimization #Aerospace and Aviation Technology #FOS: Electrical engineering #FOS: Mathematics #Fault Detection and Control Systems #Optimization and Control (math.OC) #Systems and Control (eess.SY) #electronic engineering #information engineering

paper · pdf · doi:10.48550/arxiv.2408.06999

openalex publication_date 2024/08/13 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28

Abstract

This paper presents the use of robust model predictive control for the design of an intent-aware collision avoidance system for multi-agent aircraft engaged in horizontal maneuvering scenarios. We assume that information from other agents is accessible in the form of waypoints or destinations. Consequently, we consider that other agents follow their optimal Dubin's path--a trajectory that connects their current state to their intended state--while accounting for potential uncertainties. We propose using scenario tree model predictive control as a robust approach that demonstrates computational efficiency. We demonstrate that the proposed method can easily integrate intent information and offer a robust scheme that handles different uncertainties. The method is illustrated through simulation results.

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