Generation of Connict Resolution Maneuvers for Air Traac Management

We explore the use of distributed on-line motion planning algorithms for multiple mobile agents, in Air Traf-c Management Systems (ATMS). The work is motivated by current trends in ATMS to move towards decentralized air traac management, in which the aircraft operate in \free ight" mode instead of following prespeciied \sky freeways". Connict resolution strategies are an integral part of the free ight setting. In TPS96], a set of predeened coordination maneuvers has been proposed. The purpose of this paper is to extend this set of maneuvers to cover all possible connict scenarios involving multiple agents. A distributed motion planning algorithm based on potential and vortex elds is used. While the algorithm is not always guaranteed to generate yable trajectories, the obtained trajectories can serve as qualitative prototypes for coordination maneuvers between multiple aircraft. The actual maneuvers are generated by approximating these prototypes with trajectories made up of straight lines and arcs of circles.