Multi-agent coordination in high velocity UAVs conflict detection and resolution

This paper researches on the problem of CDR when UAVs are integrated into the non-segregated airsp ace in the future. A multi-agent conflict detection and resolution(CDR) method for UAVs is presented. With regarding UAVs as agents, the multi-agent cooperative coordination method is proposed to address the UAVs CDR problem. Firstly, the relationships between conflict relevant agents are analyzed by geometric method. The existing and potential conflict are comprehensively considered in multi-agent CDR. Then, the multi-agent CDR problem is formalized as a nonlinear optimization problem with consideration of agents´ priorities and dynamic constraints. Finally, several scenarios simulations are implemented for test. The results show that our approach can achieve reasonable performance.