A Geometrical Approach based on 4D Grids for Conflict Management of Multiple UAVs operating in U-space

This paper addresses the problem of conflict management from the tactical point of view for multiple UAVs operating in a common U-space. The proposed solution is based on the representation of the trajectories into a 4D grid to optimize the conflict searching tool and an iterative geometric approach to resolve the conflicts, splitting the multi-conflict problem into several simpler sub-problems, and provide an alternative set of trajectories free of conflicts. The method is assessed through two different metrics: the processing time to find the solution and the deviation from initial trajectories; getting a significantly better performance in comparison with other traditional method.