Game-Theoretic Decision Making and Payoff Design for Multiagent UAV Collision Avoidance
Bildiriler > Tam Metin Bildiri
Yazarlar: Abdulkadir Sehmus Ozgun, Cagri Hindistan, Serap Demirkol Ozgun, Zeki Gul, Meryem Deniz, Enver TATLICIOĞLU
AIAA SCITECH 2026 Forum, , , Uluslararası, Tam Metin Bildiri
DOI: 10.2514/6.2026-2580
Özet
This paper proposes a novel framework for managing leader-follower UAV formations, while existing literature predominantly treats UAVs as single agents, neglecting the complexities of formation flight in dynamic environments. Through this interaction, the system optimizes a payoff function to ensure a balance between collision avoidance and flight efficiency. Simultaneously, the low-level control of the follower UAVs is governed by Graph Theory. By modeling the formation topology via the Laplacian matrix, we ensure that the follower agents maintain rigid formation, and synchronization with the leader's evasive maneuvers derived from the Nash Equilibrium (NE). Simulation results in representative 3D scenarios demonstrate that the proposed architecture successfully avoids collisions with encountered UAVs while preserving the structural integrity of the Ego formation through the graph-based control protocol.