Vision only sense and avoid: A probabilistic approach

Balint Vanek, Tamás Péni, Péter Bauer, József Bokor

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)


The real world feasibility of a self-contained, purely vision based sense and avoid system, required for small unmanned aerial vehicles (UAV) is investigated in the present paper. No information is exchanged between aircrafts, only passive 2-D vision information is available to estimate the encountering traffic. The system is composed of three distinct components: intruder state estimation using Unscented Kalman filter (UKF); collision risk estimation based on probabilistic algorithms; and trajectory re-generation using motion primitives to minimize the expected probability of collision. Since the relative system dynamics are weakly observable special emphasis is made on persistent excitation. The system is tested on a high fidelity Hardware-in-the-Loop (HIL) simulation platform, where flight control algorithms, scene rendering, image processing and estimation algorithms are implemented individually over a network of computers. A high number of representative encounter scenarios are presented to provide performance measures including detection time and miss distance of distinctive approaches to assess the applicability of the proposed method.

Original languageEnglish
Title of host publication2014 American Control Conference, ACC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)9781479932726
Publication statusPublished - Jan 1 2014
Event2014 American Control Conference, ACC 2014 - Portland, OR, United States
Duration: Jun 4 2014Jun 6 2014

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2014 American Control Conference, ACC 2014
CountryUnited States
CityPortland, OR


  • Autonomous systems
  • Flight control
  • Vision-based control

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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    Vanek, B., Péni, T., Bauer, P., & Bokor, J. (2014). Vision only sense and avoid: A probabilistic approach. In 2014 American Control Conference, ACC 2014 (pp. 1204-1209). [6859181] (Proceedings of the American Control Conference). Institute of Electrical and Electronics Engineers Inc..