Coordination de trajectoires 4D par optimisation distribuée dans la gestion du trafic aérien sans pilote

We propose a deconfliction strategy in unmanned air traffic management (UTM), where drones are provided with decision capabilities to update their 4D trajectories when facing unpredictable events or when priority trajectories are added in the airspace. The drones are aware of nearby potential conflicts provided by the UTM communication layer, and can coordinate to repair trajectories and resolve conflicts in a decentralized manner. This reduces access to a central decision bottleneck and enables reactive deconfliction. We propose coordinated behaviors based on DCOPs, evaluated on dense scenarios in a limited area with many 4D contracts, potential incidents and emergency procedures.