摘要：AbstractWe propose a Markov Decision Process (MDP) approach to optimizing decision making of an Unmanned Aerial Vehicle (UAV) in the presence of communication latency for collision avoidance scenarios. The UAV can be controlled by a remote human pilot or an onboard collision avoidance system (CAS). Due to communication latency, the pilot’s commands may be delayed for several seconds. If the UAV encounters a dynamic intruder, it has to make a decision on whether it should evade immediately by following the safe path generated from the CAS, or wait for the arrival of the pilot’s commands. The proposed MDP will make predictions on the state change in such a scenario. By solving the MDP with the value iteration method, sequential decisions on whether to wait can be made and an optimal waiting strategy can be obtained, which can be used to improve the human pilot’s user experience while ensuring safety.
