Online Path Generation and Navigation for Swarms of UAVs

Listing 2

: EPL query to determine if a drone is in close proximity of a static obstacle.

	select A.droneName as aName, A.x as aX, A.y as aY, A.z as aZ,
	O.obstacleName as oName, O.x as oX, O.y as oY, O.z as oZ, from
	DroneLocEvent.win : time(1 sec) A, SObsEvent.win : time(1 hour) O
	where A.x in [O.x − 1 : O.x + 1] and A.y in [O.y − 1 : O.y + 1] and A.z in
	[O.z − 1 : O.z + 1] and (A.x = O.x or A.y = O.y or A.z = O.z)