RVC-NMPC: NMPC with Reciprocal Velocity Constraints for Mutual Collision Avoidance of Agile UAVs

This is a video attachment for manuscript: https://arxiv.org/abs/2512.08574
RVC-NMPC: Nonlinear Model Predictive Control with Reciprocal Velocity Constraints for Mutual Collision Avoidance in Agile UAV Flight


Abstract:
This paper presents an approach to mutual collision avoidance based on Nonlinear Model Predictive Control (NMPC) with time-dependent Reciprocal Velocity Constraints (RVCs). Unlike most existing methods, the proposed approach relies solely on observable information about other robots, eliminating the necessity of excessive communication use. The computationally efficient algorithm for computing RVCs, together with the direct integration of these constraints into NMPC problem formulation on a controller level, allows the whole pipeline to run at 100 Hz. This high processing rate, combined with modeled nonlinear dynamics of the controlled Uncrewed Aerial Vehicles (UAVs), is a key feature that facilitates the use of the proposed approach for an agile UAV flight. The proposed approach was evaluated through extensive simulations emulating real-world conditions in scenarios involving up to 10 UAVs and velocities of up to 25 m/s, and in real-world experiments with accelerations up to 30 m/s2. Comparison with state of the art shows 31% improvement in terms of flight time reduction in challenging scenarios, while maintaining a collision-free navigation in all trials.

An MRS open-source research UAV platform was used for experiments presented in this video. See http://mrs.felk.cvut.cz/system for details and the source code of the MRS UAV platform, which enables all essential capabilities for research, development, and testing of novel methods. For publications describing the applied system and control stack, see:
Tomas Baca, Matej Petrlik, Matous Vrba, Vojtech Spurny, Robert Penicka, Daniel Hert and Martin Saska, “The MRS UAV System: Pushing the Frontiers of Reproducible Research, Real-world Deployment, and Education with Autonomous Unmanned Aerial Vehicles,” Journal of Intelligent & Robotic Systems 102(26):1–28, May 2021. (https://link.springer.com/article/10....

This work was accomplished by the MRS group at CTU in Prague http://mrs.felk.cvut.cz . For more experiments with the MRS UAV research platforms, see http://mrs.felk.cvut.cz/publications

Background music: Gray Clouds by Infraction (   / @infraction  )