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Distributed Consensus to Enable Merging and Spacing of UAS in an Urban EnvironmentThis paper presents a novel approach to enable multiple Unmanned Aerial Systems approaching a common intersection to independently schedule their arrival time while maintaining a safe separation. Aircraft merging at a common intersection are grouped into a network and each aircraft broadcasts its arrival time interval to the network. A distributed consensus algorithm elects a leader among the aircraft approaching the intersection and helps synchronize the information received by each aircraft. The consensus algorithm ensures that each aircraft computes a schedule with the same input information. The elected leader also dictates when a schedule must be computed, which may be triggered when a new aircraft joins the network. Preliminary results illustrating the collaborative behavior of the vehicles are presented.

Document ID
Acquisition Source
Langley Research Center
Document Type
Conference Paper
Balachandran, Swee
(National Inst. of Aerospace Hampton, VA, United States)
Munoz, Cesar
(NASA Langley Research Center Hampton, VA, United States)
Consiglio, Maria C.
(NASA Langley Research Center Hampton, VA, United States)
Date Acquired
April 17, 2020
Publication Date
June 12, 2018
Subject Category
Air Transportation And Safety
Report/Patent Number
Meeting Information
Meeting: International Conference on Unmanned Aircraft Systems
Location: Dallas, TX
Country: United States
Start Date: June 12, 2018
End Date: June 15, 2018
Sponsors: Institute of Electrical and Electronics Engineers (IEEE)
Funding Number(s)
WBS: 334005.
Distribution Limits
Public Use Permitted.
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