01661nas a2200193   4500008004100000245008200041210006900123260001300192300001200205490000600217520096700223653003501190653002401225653004001249653003001289100001501319700001901334856011401353       2000                        eng d00aOn optimal cooperative conflict resolution for air traffic management systems0 aoptimal cooperative conflict resolution for air traffic manageme  cDecember  a221-2310 v13 a<p>In this paper, we consider optimal resolution of air traffic conflicts. Aircraft are assumed to cruise within a given altitude layer, and are modeled as a kinematic system with constant velocity and curvature bounds. Aircraft can not get closer to each other than a predefined safety distance. For such system of multiple aircraft, we consider the problem of planning optimal paths among given waypoints. Necessary conditions for optimality of solutions are derived, and used to devise a parameterization of possible trajectories that turns into efficient numerical solutions to the problem. Simulation results for a realistic aircraft conflict scenario are provided. A decentralized implementation of the optimal conflict resolution scheme is introduced that may allow free-flight coordination in a cooperative airspace management scheme. Impact of decentralization on performance and safety is finally discussed with the help of extensive simulations.</p>
10aAir Traffic Management Systems10aAutonomous Vehicles10aHybrid and Embedded Control Systems10aNonlinear Control Systems1 aBicchi, A.1 aPallottino, L.  uhttp://95.110.227.47/publications/optimal-cooperative-conflict-resolution-air-traffic-management-systems.html