Abstract
This paper deals with conflict detection for Unmanned Aerial Vehicles (UAVs). We provide an exhaustive mathematical framework for 3D conflict detection and propose a novel distributed conflict detection algorithm. The suggested algorithm requires minimal communication. Indeed, only the state information (i.e., position and velocity vectors) is periodically exchanged between the UAVs. We carry out simulations, using the OMNET++ simulator, to evaluate its performance. Simulation results indicate that the proposed algorithm performs well in terms of false alarms, missed alarms and scalability to increased number of UAVs.