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Traffic collision avoidance systems (TCAS) are used in order to avoidincidences of mid-air collisions between aircraft. We present a game-theoreticapproach of a TCAS designed for autonomous unmanned aerial vehicles (UAVs). Avariant of the canonical example of game-theoretic learning, fictitious play,is used as a coordination mechanism between the UAVs, that should choosebetween the alternative altitudes to fly and avoid collision. We present theimplementation results of the proposed coordination mechanism in twoquad-copters flying in opposite directions.

Collision Avoidance of Two Autonomous Quadcopters