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1、OptimalConflictResolutionforAirTrafficControlAntonioBicchiLuciaPallottinoDept.ElectricalSystemsandAutomation&TheInterdept.ResearchCenter“EnricoPiaggio”UniversityofPisaviaDiotisalvi,2,56100Pisa,Italy.AbstractSpecifically,wewilladdresstheproblemofplanningmo-tionsofas
2、ystemofmultipleaircraftwhosedynamicsareInthispaper,weconsideroptimalresolutionofairtrafficdescribedbythepoint–massmodel[6,7].Aircraftcon-conflicts.Aircraftareassumedtocruisewithinagivenal-flictsaremodelledascollisionsbetweenthe“conflicten-titudelayer,andaremodeledas
3、akinematicsystemwithvelopes”thatsurroundeachaircraft.Wemakethecentralvelocityconstraintsandcurvaturebounds.Aircraftcanassumptionthatconflictsaretobesolvedwhileaircraftnotgetclosertoeachotherthanapredefinedsafetydis-cruisewithinafixedaltitudelayer.Aircraftcanthusbet
4、ance.Forsuchsystemofmultipleaircraft,weconsidermodeledinapurelykinematicfashion,aspointsinaplanetheproblemofplanningoptimalpathsamonggivenway-withanassociatedforeaxisandconflictenveloperadius.points.NecessaryconditionsforoptimalityofsolutionsareThetaskofeachvehic
5、leistoreachagivengoalconfigu-derived,andusedtodeviseaparameterizationofpossiblerationfromagivenstartconfiguration.Optimalsolutionstrajectoriesthatturnsintoefficientnumericalsolutionstointhesenseofminimizingtotalpathlengthandtotaltimetheproblem.Simulationresultsfora
6、realisticaircraftcon-willbeconsidered.flictscenarioareprovided.Anotherimportantassumptionwemakeisthatallinteract-ingaircraftcooperatetowardsoptimizationofacommongoal,asagentsinthesameteam.Suchcooperativegame1Introductionapproachistobecontrastedwiththeantagonistic
7、approachdevelopedby[8],whichresultsinsingle–aircraftstrategiesAircraftcoordinationinincreasinglycrowdedairspaceisthataresafeagainstworst–casemaneuversofallotherpo-becomingamajorconcernforairtrafficmanagementau-tentiallyconflictingvehicles.thoritiesintheU.S.,Japan,
8、andEurope[1,2].Con-Inthispaper,wewilldiscussnecessaryconditionsforop-ventionalmanagementschemesarebeingreplacedbytimalityofconflictresolutionschemes,andwillderiveexten
