This paper addresses the problem of collision
avoidance in scenarios with multiple aerial vehicles and
proposes a method based on a Legendre pseudospectral
collocation in order to compute the solution trajectories
and guarantee that the safety distance between them is
always maintained. The method uses a rolling horizon
policy in which trajectories are planned up to a given
time horizon, thus considering a much smaller problem
space. Then, the system is applied iteratively. Studies have
been performed to set the values of the look-ahead time
and the number of collocations points. The computational
load and scalability of the method are also studied in
randomly generated scenarios to test its application in
real time. Experiments have been also carried out in the
multivehicle aerial testbed of the Center for Advanced
Aerospace Technologies (Seville, Spain)Comisión europea FP7 ICTMinisterio de Ciencia e Innovación DPI2011-28937-C02-0
