01471nas a2200169   4500008004100000245009700041210006900138260000800207300001200215520085500227653002101082653001301103100001901116700001501135700001601150856013501166       2002                        eng d00aSafety of a decentralized scheme for Free-Flight ATMS using Mixed Integer Linear Programming0 aSafety of a decentralized scheme for FreeFlight ATMS using Mixed  cMay  a742-7473 a<p>In this paper we consider policies for free-flight management of air traffic. We consider instantaneous and bounded heading angle deviation as conflict avoidance maneuvers. The corresponding model, resulting in a Mixed Integer Linear Programming (MILP) problem allow to solve both conflict detection and conflict resolution problems. The developed algorithm proved successful in a centralized implementation with a large number of cooperating aircraft. However, the application of such algorithm to a Free Flight environment, where cooperation can only be expected from neighboring aircraft, poses many challenges. We consider a model of the decentralized conflict resolution strategy that is based on a hybrid system, and sufficient conditions under which a 3-aircraft Free Flight MILP-based scheme guarantees safety of flight are provided.</p>
10aEmbedded Control10aRobotics1 aPallottino, L.1 aBicchi, A.1 aPancanti, S  uhttp://www.centropiaggio.unipi.it/publications/safety-decentralized-scheme-free-flight-atms-using-mixed-integer-linear-programming