Hierarchical, Hybrid Framework for Collision Avoidance Algorithms in the National Airspace

In this paper, a hierarchical, hybrid framework is proposed for representing and analyzing the interaction of multiple aircraft operating under dierent collision avoidance and separation assurance regimes. The model is broken down by the three dierent collision avoidance regimes: immediate collision avoidance, midterm collision avoidance and separation assurance. These schemes are classied by the time scale in which they operate. Even though each collision avoidance scheme is independently safe, when they are combined the entire system can become unsafe. In this paper, backwards reachable sets are used to analyze the interaction between the immediate and midterm collision avoidance schemes resulting in provable safety conditions. The vertical reachable set is also used to analyze the Trac Alert and Collision Avoidance System (TCAS), a specic immediate collision avoidance scheme.

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