On Optimal Cooperative Con ict Resolution for Air Tra c Management Systems

|In this paper, we consider optimal resolution of air tra c con icts. 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 prede ned 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 e cient numerical solutions to the problem. Simulation results for a realistic aircraft conict scenario are provided. A decentralized implementation of the optimal con ict resolution scheme is introduced that may allow freeight coordination in a cooperative airspace management scheme. Impact of decentralization on performance and safety is nally discussed with the help of exten-

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