Overapproximating Reachable Sets by Hamilton-Jacobi Projections
Journal of Scientific Computing
Proceedings of the Symposium on Human Interface 2009 on Human Interface and the Management of Information. Information and Interaction. Part II: Held as part of HCI International 2009
Physically-proximal human-robot collaboration for air and space applications
PerMIS '07 Proceedings of the 2007 Workshop on Performance Metrics for Intelligent Systems
Coordination and control of multi-agent dynamic systems: models and approaches
SAB'06 Proceedings of the 2nd international conference on Swarm robotics
Near real-time fuel-optimal en route conflict resolution
IEEE Transactions on Intelligent Transportation Systems
IEEE Transactions on Intelligent Transportation Systems
CalCS: SMT solving for non-linear convex constraints
Proceedings of the 2010 Conference on Formal Methods in Computer-Aided Design
The reachability problem for uncertain hybrid systems revisited: a viability theory perspective
HSCC'06 Proceedings of the 9th international conference on Hybrid Systems: computation and control
Safe distributed motion coordination for second-order systems with different planning cycles
International Journal of Robotics Research
Existence of cascade discrete-continuous state estimators for systems on a partial order
HSCC'05 Proceedings of the 8th international conference on Hybrid Systems: computation and control
ICCPS '12 Proceedings of the 2012 IEEE/ACM Third International Conference on Cyber-Physical Systems
On reachability and minimum cost optimal control
Automatica (Journal of IFAC)
Efficient conflict resolution method in air traffic management based on the speed assignment
Proceedings of the 2nd International Conference on Application and Theory of Automation in Command and Control Systems
Journal of Intelligent and Robotic Systems
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We address the problem of generating provably-safe conflict resolution maneuvers for aircraft in uncertain environments. We assume that a maneuver is composed of a sequence of flight modes, which are segments of constant heading, of constant bank angle, or of constant airspeed. Each of these flight modes has associated to it the kinematics of the aircraft, and hence the maneuver is a hybrid system. While the flight modes are defined ahead of time, their sequencing and parameter values do not necessarily have to be. We present an algorithm for generating provably safe maneuvers, which is based on a general procedure for designing controllers for hybrid systems. The result is a maneuver, proven to be safe within the limits of the models used, which is a familiar sequence of commands easily executable by the flight management systems. The maneuvers may be viewed as protocols, or “rules of the road”, and are well-defined for each conflict scenario. We present results for two example maneuvers