Sense selection strategy of collision avoidance for cooperative UAVs sharing airspace

For cooperative unmanned aerial vehicles (UAVs) sharing three-dimensional (3D) airspace, this paper presents a sense selection strategy (S3) as the core of a collision avoidance (CA) model. The CA is specified in the CPN formalism and it is available to minimize the actual execution time by selecting the optimal sense which initiates fewer negative domino encounters. The CA algorithm with S3 has been validated to be more efficient than the approach with sense selected randomly by several simulations.