A Fast, Robust and Decentralized Approach for Altitude De-confliction of Multiple UAVs

Multiple unmanned aerial vehicles (UAVs) are now able to complete a wide range of applications. The de-confliction of flight plans of multiple UAVs is essential in providing conflict-free plans for greater efficiency in completing the missions. Centralized de-confliction approaches have been proposed but they are limited by the requirement of a central agency. Therefore, this paper introduces a novel decentralized approach for altitude de-confliction of multiple UAVs. Simulation studies are conducted to show that this approach is fast and robust in handling dynamic changes during the mission.