Optimal Coordinated Motions of Multiple Agents Moving on a Plane
SIAM Journal on Control and Optimization
Formal Verification of Curved Flight Collision Avoidance Maneuvers: A Case Study
FM '09 Proceedings of the 2nd World Congress on Formal Methods
Differential-algebraic Dynamic Logic for Differential-algebraic Programs
Journal of Logic and Computation
Safety verification of an aircraft landing protocol: a refinement approach
HSCC'07 Proceedings of the 10th international conference on Hybrid systems: computation and control
Formal verification of an optimal air traffic conflict resolution and recovery algorithm
WoLLIC'07 Proceedings of the 14th international conference on Logic, language, information and computation
Quantified differential dynamic logic for distributed hybrid systems
CSL'10/EACSL'10 Proceedings of the 24th international conference/19th annual conference on Computer science logic
Quantified differential invariants
Proceedings of the 14th international conference on Hybrid systems: computation and control
Adaptive cruise control: hybrid, distributed, and now formally verified
FM'11 Proceedings of the 17th international conference on Formal methods
Distributed theorem proving for distributed hybrid systems
ICFEM'11 Proceedings of the 13th international conference on Formal methods and software engineering
FM'06 Proceedings of the 14th international conference on Formal Methods
Decentralized Cooperative Policy for Conflict Resolution in Multivehicle Systems
IEEE Transactions on Robotics
On optimal cooperative conflict resolution for air traffic management systems
IEEE Transactions on Intelligent Transportation Systems
ICCPS '12 Proceedings of the 2012 IEEE/ACM Third International Conference on Cyber-Physical Systems
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As airspace becomes ever more crowded, air traffic management must reduce both space and time between aircraft to increase throughput, making on-board collision avoidance systems ever more important. These safety-critical systems must be extremely reliable, and as such, many resources are invested into ensuring that the protocols they implement are accurate. Still, it is challenging to guarantee that such a controller works properly under every circumstance. In tough scenarios where a large number of aircraft must execute a collision avoidance maneuver, a human pilot under stress is not necessarily able to understand the complexity of the distributed system and may not take the right course, especially if actions must be taken quickly. We consider a class of distributed collision avoidance controllers designed to work even in environments with arbitrarily many aircraft or UAVs. We prove that the controllers never allow the aircraft to get too close to one another, even when new planes approach an in-progress avoidance maneuver that the new plane may not be aware of. Because these safety guarantees always hold, the aircraft are protected against unexpected emergent behavior which simulation and testing may miss. This is an important step in formally verified, flyable, and distributed air traffic control.