Coordinated dense aerial traffic with self-driving drones

In this paper we present a general, decentralized air traffic control solution using autonomous drones. We challenge some of the most difficult dense traffic situations, namely, crosswalk and package-delivery scenarios, where intelligent collective collision avoidance and motion planning is essential for a jam-free optimal traffic fiow. We build up a force based distributed multi-robot control model using a tunable selection of interaction terms: anisotropic repulsion, behaviour driven velocity alignment, self-organized queueing and conflict avoiding self-driving. We optimize the model with evolution in a realistic simulation framework and demonstrate its applicability with 30 autonomous drones in a coordinated outdoor flight within a densely packed virtual arena

ÜBER DIE SIMULATION DES VERKEHRSVERLAUFS

Experiments for traffic simulation are reported for three cases: (i) Simulation of stochastic traffic at street crossings observing the right-hand advantage principle. (ii) Simulation of traffic on winding highways. (iii) Simulation of traffic on three-lane roads