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Conflict detection is an important research issue in Unmanned Aerial Vehicles to ensure safety and collision free flights. In this paper, we first propose a comprehensive analytical framework for a three dimensional conflict detection. Then, we propose SLIDE a new Straight LIne conflict DEtection and alerting algorithm for a set of UAVs to safely share a common airspace. SLIDE is fully distributed and requires a limited state information exchange between UAVs. The assumptions of precise state information and packet-loss free communications are relaxed so as to guarantee the applicability and efficiency of the algorithm in real world situations. A thorough discussion is also presented to deal with appropriate tuning of the different parameters of the collision detection framework. Extensive simulations based on OMNeT++ are used to validate SLIDE and evaluate its performance. Simulation results indicate that SLIDE guarantees a reduced number of false and missed alarms even in high density traffic scenarios and communication perturbed environments, yet it leaves adequate time to accomplish the required maneuver actions.
Mahjri et al. (Fri,) studied this question.