Coordinating Multiple Robots with Kinodynamic Constraints Along Specified Paths
International Journal of Robotics Research
A cooperative multi-agent approach to free flight
Proceedings of the fourth international joint conference on Autonomous agents and multiagent systems
Services for fault-tolerant conflict resolution in air traffic management
Proceedings of the 2008 RISE/EFTS Joint International Workshop on Software Engineering for Resilient Systems
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Near real-time fuel-optimal en route conflict resolution
IEEE Transactions on Intelligent Transportation Systems
A mobile computing approach for navigation purposes
W2GIS'06 Proceedings of the 6th international conference on Web and Wireless Geographical Information Systems
Conflict Detection and Resolution Method for Cooperating Unmanned Aerial Vehicles
Journal of Intelligent and Robotic Systems
A multiagent approach to managing air traffic flow
Autonomous Agents and Multi-Agent Systems
Distributed reactive collision avoidance
Autonomous Robots
Proceedings of the 1st International Conference on Application and Theory of Automation in Command and Control Systems
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
4D trajectory planning in ATM with an anytime stochastic approach
Proceedings of the 3rd International Conference on Application and Theory of Automation in Command and Control Systems
Proceedings of the 3rd International Conference on Application and Theory of Automation in Command and Control Systems
Journal of Intelligent and Robotic Systems
Aircraft deconfliction with speed regulation: new models from mixed-integer optimization
Journal of Global Optimization
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This paper considers the problem of solving conflicts arising among several aircraft that are assumed to move in a shared airspace. Aircraft can not get closer to each other than a given safety distance in order to avoid possible conflicts between different airplanes. For such system of multiple aircraft, we consider the path planning problem among given waypoints avoiding all possible conflicts. In particular we are interested in optimal paths, i.e., we want to minimize the total flight time. We propose two different formulations of the multiaircraft conflict avoidance problem as a mixed-integer linear program: in the first case only velocity changes are admissible maneuvers, in the second one only heading angle changes are allowed. Due to the linear formulation of the two problems, solutions may be obtained quickly with standard optimization software, allowing our approach to be implemented in real time