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Envelopes and waves: safe multivehicle collision avoidance for horizontal non-deterministic turns

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  • FMICS 2019/2020
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Abstract

We present an approach to analyze the safety of asynchronous, independent, non-deterministic, turn-to-bearing horizontal maneuvers for two vehicles. Future turn rates, final bearings, and continuously varying ground speeds throughout the encounter are unknown but restricted to known ranges. We develop a library of formal proofs about turning kinematics and apply the library to create a formally verified timing computation. Additionally, we create a technique that evaluates future collision possibilities that is based on waves of position possibilities and relies on the timing computation. The result either determines that the encounter will be collision-free, or computes a safe overapproximation for when and where collisions may occur.

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Notes

  1. Coq proofs are at https://bitbucket.org/ykouskoulas/ottb-foundation-proofs

  2. There exist alternate expressions for this angle, but to our knowledge, the formulation in this paper is new.

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Authors and Affiliations

  1. Seattle, WA, USA

    Yanni Kouskoulas

  2. Las Cruces, NM, USA

    T. J. Machado

  3. Johns Hopkins University Applied Physics Laboratory, 11100 Johns Hopkins Rd, Laurel, MD, 20723, USA

    Daniel Genin, Aurora Schmidt, Ivan Papusha & Joshua Brulé

Authors
  1. Yanni Kouskoulas
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  2. T. J. Machado
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  3. Daniel Genin
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  4. Aurora Schmidt
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  5. Ivan Papusha
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  6. Joshua Brulé
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Correspondence to Yanni Kouskoulas.

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This research was partially funded under the sponsorship of the Federal Aviation Administration Traffic Alert and Collision Avoidance System (TCAS) Program Office (PO) AJM-42 under Contract Number DTFAWA-11-C-00074 as well as internal funds from the Johns Hopkins University Applied Physics Laboratory.

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Kouskoulas, Y., Machado, T.J., Genin, D. et al. Envelopes and waves: safe multivehicle collision avoidance for horizontal non-deterministic turns. Int J Softw Tools Technol Transfer 24, 371–394 (2022). https://doi.org/10.1007/s10009-022-00654-2

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