Cooperative Warning and Risk-Averse Safety Control for Multiple UAVs

The avoidance of dynamic obstacles is a challenging issue for uncrewed aerial vehicle (UAV) due to its limited perception range.This article presents a framework including cooperative warning and risk-averse safety control for multiple UAVs. When external obstacles are discovered, the evaluation of conditional value-at-risk for the obstacles is performed by the discoverers. Whenever the risk value violates the designed safety threshold, the warning information will be transmitted to the threatened neighbors immediately. Moreover, by incorporating the event-triggered mechanism, the risk-averse safety control scheme is constructed. Consequently, multiple UAVs are able to evade dynamic obstacles from various directions with enhanced safety and reduced conservatism. The effectiveness and superiority of the proposed scheme are substantiated by comparative simulations and real-world flight experiments.