Decentralized multi-aircraft conflict resolution in the presence of uncertainty

Conclusions: Present a decentralized CR scheme considering flexibility of aircraft to tackle multi-aircraft CR in presence of uncertainty Advantages of proposed scheme are summarized as follows: ■ Avoidingextreme CR strategies for some aircraft ■ Reduction of computational time compared with some centralized approach Future directions: Investigating the heading change, altitude change, and their combinations into decentralized CR strategy