Unmanned vehicle and method for a first unmanned vehicle for avoiding a conflict with a second unmanned vehicle

Abstract

A decentralized method for a first Unmanned Vehicle, UV, for avoiding a conflict with a second UV is provided. The method includes determining, based on a current movement plan of the first UV and a current movement plan of the second UV received from the second UV, whether a conflict with the second UV is likely to occur. If it is determined that a conflict with the second UV is likely to occur, the method further includes performing at least one iteration of the following steps: a) determining a candidate movement plan of the first UV and receiving, from the second UV, a candidate movement plan of the second UV; b) determining first cost values for different combinations of one of the current movement plan and the candidate movement plan of the first UV with one of the current movement plan and the candidate movement plan of the second UV using a first cost function; c) receiving, from the second UV, second cost values for the different combinations, wherein the second cost values are calculated by the second UV using a second cost function; d) combining the first cost values and the second cost values in order to determine third cost values for the different combinations; and e) updating the current movement plan of the first UV to the movement plan of the first UV that is included in the combination exhibiting the best third cost value among the different combinations.