Decoupled Conflict Resolution Procedures for non-perpendicular Air Traffic intersections with different speeds

This article presents a Conflict Resolution Procedure (CRP) for intersecting routes in en-route Air Traffic Control (ATC). Recent works have developed provably-safe CRP, which solve the conflict resolution in a decoupled manner for perpendicular en-route intersections. The current article removes two limitations in this approach by: (i) developing procedures for non-perpendicular intersections; and (ii) removing the requirement that aircraft on each intersecting route have the same speed. Conditions are developed to guarantee safety, and the CRP is illustrated through an example en-route intersection.