In this paper, we consider optimal resolution of air traffic conflicts. Aircraft are assumed to cruise within a given altitude layer, and are modeled as a kinematic system with constant velocity and curvature bounds. Aircraft can not get closer to each other than a predefined safety distance. For such system of multiple aircraft, we consider the problem of planning optimal paths among given waypoints. Necessary conditions for optimality of solutions are derived, and used to devise a parameterization of possible trajectories that turns into efficient numerical solutions to the problem. Simulation results for a realistic aircraft conflict scenario are provided. A decentralized implementation of the optimal conflict resolution scheme is introduced that may allow free-flight coordination in a cooperative airspace management scheme. Impact of decentralization on performance and safety is finally discussed with the help of extensive simulations.

VL - 1 ER - TY - JOUR T1 - Planning Motions of Polyhedral Parts by Rolling JF - Algorithmica Y1 - 2000 A1 - A. Marigo A1 - M. Ceccarelli A1 - S. Piccinocchi A1 - A. Bicchi KW - Hybrid and Embedded Control Systems KW - Nonlinear Control Systems KW - Quantized Control Systems KW - Robot Hands VL - 26 ER - TY - CONF T1 - Quantized Control Systems and Discrete Nonholonomy T2 - Proc. IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control Y1 - 2000 A1 - A. Bicchi A1 - A. Marigo A1 - B. Piccoli KW - Hybrid and Embedded Control Systems KW - Nonlinear Control Systems KW - Quantized Control Systems JF - Proc. IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control PB - Elsevier CY - Princeton, NJ, USA ER - TY - CONF T1 - Reachability Analysis for a Class of Quantized Control Systems T2 - Proc. IEEE Int. Conf. on Decision and Control Y1 - 2000 A1 - A. Marigo A1 - B. Piccoli A1 - A. Bicchi KW - Hybrid and Embedded Control Systems KW - Nonlinear Control Systems KW - Quantized Control Systems JF - Proc. IEEE Int. Conf. on Decision and Control CY - Sydney, AU ER - TY - CONF T1 - Stability and Robustness of Optimal Synthesis for Route Tracking by Dubins' Vehicles T2 - Proc. 39th IEEE Conference on Decision and Control Y1 - 2000 A1 - A. Balluchi A1 - A. Bicchi A1 - B. Piccoli A1 - P. Souères KW - Autonomous Vehicles KW - Hybrid and Embedded Control Systems KW - Nonlinear Control Systems JF - Proc. 39th IEEE Conference on Decision and Control CY - Sydney, Australia VL - 1 N1 -(invited paper)

ER - TY - JOUR T1 - Decentralized Variable Structure Tracking for Systems with Time-Domain Dominance JF - International Journal of Applied Mathematics and Computer Science Y1 - 1999 A1 - A. Balluchi A1 - A. Bicchi KW - Hybrid and Embedded Control Systems KW - Nonlinear Control Systems VL - 9 ER - TY - CONF T1 - Decentralized Air Traffic Management Systems: Performance and Fault Tolerance T2 - Proc. IFAC Workshop on Motion Control Y1 - 1998 A1 - A. Bicchi A1 - A. Marigo A1 - G. Pappas A1 - M. Pardini A1 - G. Parlangeli A1 - C. Tomlin A1 - S. Sastry KW - Air Traffic Management Systems KW - Autonomous Vehicles KW - Hybrid and Embedded Control Systems KW - Nonlinear Control Systems JF - Proc. IFAC Workshop on Motion Control ER - TY - CONF T1 - Hybrid Optimization Problems in Automotive Applications T2 - Proc. IFAC International Workshop on Motion Control Y1 - 1998 A1 - A. Balluchi A1 - A. Bicchi A1 - G. Padroni A1 - C. Rossi A1 - A. L. Sangiovanni-Vincentelli KW - Automotive KW - Hybrid and Embedded Control Systems JF - Proc. IFAC International Workshop on Motion Control CY - Grenoble, France N1 - (invited paper) ER - TY - CONF T1 - Steering Driftless Nonholonomic Systems by Control Quanta T2 - Proc. IEEE Int. Conf. on Decision and Control Y1 - 1998 A1 - A. Marigo A1 - A. Bicchi KW - Hybrid and Embedded Control Systems KW - Nonlinear Control Systems KW - Quantized Control Systems JF - Proc. IEEE Int. Conf. on Decision and Control ER - TY - CONF T1 - Manipulation of polyhedral parts by rolling T2 - Proc. IEEE Int. Conf. on Robotics and Automation Y1 - 1997 A1 - A. Marigo A1 - Y. Chitour A1 - A. Bicchi KW - Hybrid and Embedded Control Systems KW - Nonlinear Control Systems KW - Quantized Control Systems JF - Proc. IEEE Int. Conf. on Robotics and Automation ER - TY - CONF T1 - Necessary and Sufficient Dominance Conditions for Robust Decentralization of VS Tracking Control T2 - Proc. European Control Conference Y1 - 1997 A1 - A. Balluchi A1 - A. Bicchi KW - Hybrid and Embedded Control Systems KW - Nonlinear Control Systems JF - Proc. European Control Conference ER - TY - CONF T1 - Closed loop smooth steering of unicycle-like vehicles T2 - Proc. Int. Conf. Decision and Control Y1 - 1994 A1 - M. Aicardi A1 - G. Casalino A1 - A. Balestrino A1 - A. Bicchi KW - Autonomous Vehicles KW - Hybrid and Embedded Control Systems KW - Nonlinear Control Systems JF - Proc. Int. Conf. Decision and Control ER - TY - CONF T1 - A Diagonal Dominance Condition for Robust Decentralized Variable Structure Control T2 - Proc. Conf. on Decision and Control Y1 - 1994 A1 - A. Bicchi A1 - A. Balluchi A1 - A. Balestrino KW - Hybrid and Embedded Control Systems KW - Nonlinear Control Systems JF - Proc. Conf. on Decision and Control ER - TY - CONF T1 - Time-Domain Dominance Condition for Decentralized Variable Structure Control of Systems in Input-Output Form T2 - Proc. Int. Workshop on Variable Structure and Lyapunov Techniques Y1 - 1994 A1 - A. Bicchi A1 - A. Balluchi A1 - A. Balestrino KW - Autonomous Vehicles KW - Hybrid and Embedded Control Systems KW - Nonlinear Control Systems JF - Proc. Int. Workshop on Variable Structure and Lyapunov Techniques CY - Benevento ER - TY - CONF T1 - Efficient Parallel Algorithm for Optimal Block Decomposition of Transfer Function Matrices for Decentralized Control of Large-Scale Systems T2 - Proc. Conference on Decision and Control Y1 - 1993 A1 - A. Balluchi A1 - A. Balestrino A1 - A. Bicchi KW - Hybrid and Embedded Control Systems KW - Nonlinear Control Systems JF - Proc. Conference on Decision and Control ER -