Online Path Generation and Navigation for Swarms of UAVs

Algorithm 1

Collision prediction rules.

(1)	{Rule 1}
(2)	, let be the current and the desired next locations of and similarly be the current and the desired next locations of
(3)	if      then
(4)	predict a UAV-to-UAV collision
(5)	end if
(6)	{Rule 2}
(7)	, let be the desired next location of and be the location of
(8)	if then
(9)	predict a UAV-to-static-obstacle collision
(10)	end if
(11)	{Rule 3}
(12)	, let be the desired next location of and be the current location of
(13)	if then
(14)	predict a UAV-to-moving-obstacle collision
(15)	end if