Cooperative Collision Avoidance in Multi-Robot
Systems using Fuzzy Rules and Velocity Obstacle

Video 1.Simulation with 3 AscTec Firefly UAVs
Video 2.Simulation with 4 AscTec Firefly UAVs
Video 3.Simulation with 6 AscTec Firefly UAVs
Video 4.Simulation with 8 AscTec Firefly UAVs
Fuzzy Rules
  1. IF LΔTc is D, Then vc is DL and Δθ is VS
  2. IF LΔTc is S, Then vc is DS and Δθ is S
  3. IF LΔTc is D, Then vc is DL and Δθ is S
  4. IF LΔTc is S, Then vc is MA and Δθ is M
  5. IF LΔTc is D, Then vc is DL and Δθ is VS
  6. IF LΔTc is S, Then vc is DL and Δθ is L
  7. IF LΔTc is D and FΔTc is D, Then vc is DL and Δθ is S
  8. IF LΔTc is D and FΔTc is S, Then vc is DL and Δθ is VS
  9. IF LΔTc is S and FΔTc is D, Then vc is DS and Δθ is S
  10. IF LΔTc is S and FΔTc is S, Then vc is MA and Δθ is VS
  11. IF RΔTc is D and FΔTc is D, Then vc is DL and Δθ is M
  12. IF RΔTc is D and FΔTc is S, Then vc is DL and Δθ is S
  13. IF RΔTc is S and FΔTc is D, Then vc is DS and Δθ is VS
  14. IF RΔTc is S and FΔTc is S, Then vc is DS and Δθ is M
  15. IF LΔTc is D and RΔTc is D, Then vc is DL and Δθ is M
  16. IF LΔTc is D and RΔTc is S, Then vc is DL and Δθ is S
  17. IF LΔTc is S and RΔTc is D, Then vc is DL and Δθ is VS
  18. IF LΔTc is S and RΔTc is S, Then vc is DS and Δθ is S
  19. IF LΔTc is D and FΔTc is D and RΔTc is D, Then vc is DL and Δθ is VL
  20. IF LΔTc is S and FΔTc is D and RΔTc is D, Then vc is DL and Δθ is L
  21. IF LΔTc is D and FΔTc is S and RΔTc is D, Then vc is DL and Δθ is L
  22. IF LΔTc is D and FΔTc is D and RΔTc is S, Then vc is DL and Δθ is M
  23. IF LΔTc is D and FΔTc is S and RΔTc is S, Then vc is DL and Δθ is M
  24. IF LΔTc is S and FΔTc is S and RΔTc is D, Then vc is DL and Δθ is M
  25. IF LΔTc is S and FΔTc is D and RΔTc is S, Then vc is DL and Δθ is VS
  26. IF LΔTc is S and FΔTc is S and RΔTc is S, Then vc is DS and Δθ is L
  27. IF LΔTc is E, Then vc is SU
  28. IF FΔTc is E, Then vc is SU
  29. IF RΔTc is E, Then vc is SU