摘要：AbstractThis paper presents a strategy for verifying that an aircraft following a polynomial path complies with a given set of safety criteria in continuous time. Such criteria ensure that a minimal separation between the aircraft and a set of obstacles, which can be either static or dynamic, is maintained. Dynamic obstacles are also assumed to follow a known polynomial path. Dynamic obstacles may, for example, correspond to a separation volume around another flying aircraft. In the most general case, the separation criteria vary in time depending upon the position and relative velocity between the aircraft and the obstacle. The efficiency and scalability of the proposed algorithm, to be called PolySafe, make it suitable for real-time conflict detection and path re-planning of aircraft flying in a complex and crowded airspace. PolySafe has been formally verified to guarantee the detection of conflicts within a finite time horizon.
关键词：Keywordstrajectorypath planningsafetyautonomous systems
