USA flag logo/image

An Official Website of the United States Government

Autonomous Collision Avoidance and Separation Assurance for Small UAVs…

Award Information

Department of Defense
Award ID:
Program Year/Program:
2008 / SBIR
Agency Tracking Number:
Solicitation Year:
Solicitation Topic Code:
Solicitation Number:
Small Business Information
Barron Associates, Inc.
1410 Sachem Place Suite 202 Charlottesville, VA 22901-2496
View profile »
Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No
Phase 1
Fiscal Year: 2008
Title: Autonomous Collision Avoidance and Separation Assurance for Small UAVs Operating in the National Airspace System
Agency / Branch: DOD / NAVY
Contract: N00014-08-M-0198
Award Amount: $69,837.00


Unmanned air vehicles (UAVs) are presently restricted from operating within the vast National Airspace System (NAS) covering most of North America. The proposed effort seeks to develop FAA-certifiable collision avoidance and separation assurance algorithms that guarantee safe interoperation of small UAVs and other aircraft in the NAS. Small UAVs pose additional size, weight, and power (SWaP) limitations that make this problem especially difficult. The proposed effort adapts and integrates two novel technologies. A rapid collision avoidance algorithm first developed by MIT for unmanned ground vehicles is adapted and unified with an efficient hybrid D* path re-planning algorithm developed previously by the authors. These technologies are chosen specifically for: (1) their robust real-time performance using very limited computation; (2) their accommodation of substantial sensor, disturbance, and modeling uncertainty; and (3) their generation of maneuvers that are guaranteed to be dynamically feasible. The proposed concept is designed to handle dynamic obstacle aircraft that may or may not be cooperative or well-sensed. Because the collision-avoidance and path-planning components both generate complete, realizable trajectories (rather than waypoints), tracking errors can be bounded and aircraft separation can be assured with the highest levels of confidence.

Principal Investigator:

Matthew Lichter
Research Scientist

Business Contact:

Connie R. Hoover
General Manager
Small Business Information at Submission:

1410 Sachem Place Suite 202 Charlottesville, VA 22901

EIN/Tax ID: 541243694
Number of Employees:
Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No