Projections for future air mobility envisage intensely utilized airspace that does not simply scale up from existing systems with centralized air traffic control. This paper considers the implementation and test of a software and hardware framework for decentralized control of aerial vehicles within intensely used airspace. Up to 10 rotary wing vehicles of maximum all up mass of are flown in an outdoor volume with length scale of with GPS and WiFi connectivity. Flight control is implemented using a Pixhawk 4 flight controller running the PX4 firmware with guidance algorithms run on a separate onboard companion computer. Deconfliction is implemented using a simple elastic repulsion model with a guidance update rate of . Traffic structures are constructed from a path of directed waypoints and associated cross sectional geometry. Junctions are implemented when two paths converge into one or when one path diverges into two. Agents engage with structures through execution of flow, merge and swirl velocity rules. Calibration experiments showed that the worst case latency in agents sharing position information was of the order of made up from delays due to finite guidance update rate, WiFi processing and centralized message processing. A choice of vehicle cruise speed of and conflict radius of provided an acceptable compromise between experiment time efficiency (speed) and spatial efficiency (resolution) within the test volume. Results from recirculating junction experiments show that peak deconfliction activity occurs at the junction node, however biased distribution of agents within a corridor means the peak intensity is pushed ahead of the node. Use of meshed helical junction structures significantly reduces the intensity of conflict at the expense of reduced junction time efficiency.

中文翻译：

---

高强度交通结构中空中机器人的分散冲突消除

对未来空中交通的预测设想了密集利用的空域，而这并不是简单地从具有集中空中交通管制的现有系统中扩展出来的。本文考虑了在频繁使用的空域内对飞行器进行分散控制的软件和硬件框架的实施和测试。最多可容纳 10 架最大总质量为 的旋翼飞行器在长度为 的室外空间中飞行，并具有 GPS 和 WiFi 连接。飞行控制是使用运行 PX4 固件的 Pixhawk 4 飞行控制器实现的，制导算法在单独的机载配套计算机上运行。消除冲突是使用简单的弹性斥力模型实现的，其制导更新率为 。交通结构是根据有向路径点和相关横截面几何形状的路径构建的。当两条路径汇合为一条或当一条路径分叉为两条时，就会实现交汇点。代理通过执行流动、合并和漩涡速度规则来与结构交互。校准实验表明，代理共享位置信息的最坏情况延迟是由有限引导更新率、WiFi 处理和集中消息处理造成的延迟组成的。车辆巡航速度 和冲突半径的选择提供了测试体积内实验时间效率（速度）和空间效率（分辨率）之间可接受的折衷。再循环连接点实验的结果表明，峰值消除冲突活动发生在连接点节点，但是走廊内代理的偏向分布意味着峰值强度被推到节点之前。使用网状螺旋连接结构可显着降低冲突强度，但代价是降低连接时间效率。