Conflict Prediction Cooperative Collision

A connict resolution architecture for multi-agent hybrid systems is presented. The agents are considered as players in a noncooperative, zero-sum dynamic game where the actions of other agents are modeled as disturbances. If the saddle solution to the game results in no collision for the worst possible disturbance then coordination among agents is not necessary. In case the saddle solution is not safe, then predeened, coordinated maneuvers are used to avoid possible collisions. The architecture is illustrated with a simple example from air traac systems.