# An Optimal Bearing-Only-Information Strategy for Unmanned Aircraft Collision Avoidance

arXiv: https://arxiv.org/abs/2004.09744 · HTML: https://mlsanity.com/paper/2004.09744/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 21 Apr 2020.

## Built on by (most cited first, 1 of 1)

- [Reinforcement Learning for Inverse Non-Cooperative Linear-Quadratic Output-feedback Differential Games](https://mlsanity.com/paper/2403.02146/) (2024)

## Abstract (arXiv)

This paper presents a novel collision avoidance strategy for unmanned aircraft detect and avoid that requires only information about the relative bearing angle between an aircraft and hazard. It is shown that this bearing-only strategy can be conceived as the solution to a novel differential game formulation of collision avoidance, and has several intuitive properties including maximising the instantaneous range acceleration in situations where the hazard is stationary or has a finite turn rate. The performance of the bearing-only strategy is illustrated in simulations based on test cases drawn from draft minimum operating performance standards for unmanned aircraft detect and avoid systems.