Decentralized Multi-aircraft Conflict Resolution in the presence of uncertainty

Multi-aircraft Conflict Resolution (CR) in the presence of uncertainty is the core task for air traffic controller to maintain flight safety. In order to avoid the conflicts among all involved aircraft while address the flight flexibility of individual aircraft, a decentralized multi-aircraft CR scheme is proposed. The CR problem is divided into a sequential of sub-problems based on a novel conflict resolution order, in which the flexibility of aircraft is described as the velocity reach set modelled through the concept of Velocity Obstacle (VO). Then, the sub-problem is formulated into a Mixed Integer Linear Program (MILP) solved via CPLEX. Some numerical results are given to show the efficacy of the proposed decentralized approach.