conflict resolution for air traffic management a study in multi-agent hybrid systemsnew

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1、Con ictResolutionforAirTracManagement:aStudyinMulti-AgentHybridSystemsClaireTomlin,GeorgeJ.PappasandShankarSastryDepartmentofElectricalEngineeringandComputerSciencesUniversityofCaliforniaatBerkeleyBerkeley,CA94720fclairet,gpappas,sastryg@eecs.berkeley.eduAbstractAirTracManagement

2、(ATM)ofthefutureallowsforthepossibilityoffree ight,inwhichaircraftchoosetheirownoptimalroutes,altitudes,andvelocities.Thesafeandfairresolutionoftrajectorycon ictsbetweenaircraftisnecessarytothesuccessofsuchadistributedcontrolsystem.Inthispaper,weproposeamethodtosynthesizeprovablysaf

3、econ ictresolutionmaneuvers.Themethodmodelstheaircraftandthemaneuverasanonlinearhybridsystem,andcalculatesthemaximalsetofsafeinitialconditionsforeachaircraft,sothatseparationisassuredinthepresenceofuncertaintiesintheactionsoftheotheraircraft.Examplesofmaneuversusingbothspeedandheadi

4、ngchangesareworkedoutindetail.1IntroductionAirtransportationsystemsarefacedwithsoaringdemandsforairtravel.AccordingtotheFederalAviationAdministration(FAA),theannualairtracrateintheU.S.isexpectedtogrowby3to5percentannuallyforatleastthenext15years.ThecurrentNationalAirspaceSystem(NAS

5、)architectureandmanagementwillnotbeabletoecientlyhandlethisincreasebecauseofseverallimitingfactorsincluding:Inecientairspaceutilization:Currently,theairspaceisveryrigidlystructuredandaircraftareforcedtotravelalongpredeterminedjetways.Thisisclearlynotoptimalanddisallowsaircraftto

6、ydirectlytothedestinationandtakeadvantageoffavorablewinds.ResearchsupportedbyNASAundergrantNAG2-1039,bytheArmyResearchOceundergrantsDAAH04-95-1-0588andDAAH04-96-1-0341,andbyNSERCandZONTApostgraduatefellowships.1Thisproblemisparticularlyevidentintransoceanicrouteswhichareexperienci

7、ngthegreatestdemandgrowth(forexample,nearly15%annuallyacrossthePacicOcean).IncreasedAirTracControl(ATC)workload:SeparationamongaircraftaswellasvectoringaircraftinordertoavoidweatherhazardsisperformedcentrallybyATC.Theresultingcentralizedarchitectureplacesanenormousburdenoncontrol

8、lers.Incongestedare