{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,24]],"date-time":"2026-04-24T18:20:48Z","timestamp":1777054848459,"version":"3.51.4"},"reference-count":31,"publisher":"MDPI AG","issue":"23","license":[{"start":{"date-parts":[[2022,11,27]],"date-time":"2022-11-27T00:00:00Z","timestamp":1669507200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"SESAR Joint Undertaking under the European Union\u2019s Connection Europe Facility (CEF)","award":["SJU\/LC\/342-CTR"],"award-info":[{"award-number":["SJU\/LC\/342-CTR"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper proposes a collision avoidance algorithm for the detection and avoidance capabilities of Unmanned Aerial Vehicles (UAVs). The proposed algorithm aims to ensure minimum separation between UAVs and geofencing with multiple no-fly zones, considering the sensor uncertainties. The main idea is to compute the collision probability and to initiate collision avoidance manoeuvres determined by the differential geometry concept. The proposed algorithm is validated by both theoretical and numerical analysis. The results indicate that the proposed algorithm ensures minimum separation, efficiency, and scalability compared with other benchmark algorithms.<\/jats:p>","DOI":"10.3390\/s22239230","type":"journal-article","created":{"date-parts":[[2022,11,28]],"date-time":"2022-11-28T08:13:09Z","timestamp":1669623189000},"page":"9230","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["A Probabilistic\u2013Geometric Approach for UAV Detection and Avoidance Systems"],"prefix":"10.3390","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9831-0127","authenticated-orcid":false,"given":"Hae-In","family":"Lee","sequence":"first","affiliation":[{"name":"School of Aerospace, Transport and Manufacturing, Cranfield University, College Road, Cranfield MK43 0AL, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9938-0370","authenticated-orcid":false,"given":"Hyo-Sang","family":"Shin","sequence":"additional","affiliation":[{"name":"School of Aerospace, Transport and Manufacturing, Cranfield University, College Road, Cranfield MK43 0AL, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3966-7633","authenticated-orcid":false,"given":"Antonios","family":"Tsourdos","sequence":"additional","affiliation":[{"name":"School of Aerospace, Transport and Manufacturing, Cranfield University, College Road, Cranfield MK43 0AL, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2022,11,27]]},"reference":[{"key":"ref_1","unstructured":"Hwang, I., and Tomlin, C. 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