A Decentralized Collision Avoidance System using Velocity Obstacle Principles

Drones and unmanned aerial vehicles (UAVs) have piqued the interest of researchers during the last decade, owing to their capabilities and potential for usage in a wide range of applications and areas. One of the most critical functions that drones must execute efficiently is navigation in real-world surroundings. This often involves the capacity to plan their path and avoid collisions. It is critical that drones can conduct processes related to collision avoidance while navigating around independently and effectively. In this work, we present a decentralized system for drones aiming to navigate in unknown environments and avoid moving obstacles (other drones).