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Unmanned aerial vehicles are now becoming increasingly accessible to amateurand commercial users alike. A safety air traffic management system is needed tohelp ensure that every newest entrant into the sky does not collide withothers. Much research has been done to design various methods to performcollision avoidance with obstacles. However, how to decide the safety radiussubject to communication uncertainties is still suspended. Based on assumptionson communication uncertainties and supposed control performance, a separationprinciple of the safety radius design and controller design is proposed. Withit, the safety radius corresponding to the safety area in the design phase(without uncertainties) and flight phase (subject to uncertainties) arestudied. Furthermore, the results are extended to multiple obstacles.Simulations and experiments are carried out to show the effectiveness of theproposed methods.

How Far Two UAVs Should Be subject to Communication Uncertainties