Decomposition methods for optimized collision avoidance with multiple threats

• Decomposition methods for solving the multiple-threat Markov decision process leverage the solution to the single-threat problem • Decomposition methods outperformed the current version of the Traffic Alert and Collision Avoidance System in realistic three-aircraft simulations • Utility fusion methods, particularly max-sum, performed better than command arbitration methods by fusing utilities associated with different intruders • Utility fusion methods provide safety equivalent to an example global method with fewer strengthenings