Probability-based Collision Detection and Resolution of Planned Trajectories for Unmanned Aircraft System Traffic Management

We address the problem of traffic management of an unmanned aircraft system. In an effort to improve the performance with safety, we propose a probability-based collision resolution algorithm. The proposed algorithm analyzes the planned trajectories to calculate their collision probabilities, and modifies individual drone starting times to reduce the probability of collision, while attempting to preserve high performance. Our simulation results demonstrate that the proposed algorithm improves the performance of the drone traffic management by guaranteeing high safety with minimal modification of the starting times.