Protocol-based conflict resolution for finite information horizon

Proposes a protocol-based multiple aircraft conflict resolution for a finite information horizon, in which the communication range of an aircraft is finite. A protocol for multiple aircraft conflict resolution for an infinite information horizon is presented and then this protocol is extended to a finite information horizon problem using graph theory. Communication topology among aircraft is important for the finite information horizon problem and is modeled by a graph called the communication graph. We develop a protocol for multiple-aircraft conflict resolution based on the communication graph and show the safety of the protocol. Finally, we validate our protocol through simulations with a dynamic aircraft model.