A decentralized event-based predictive navigation scheme for Air-Traffic Control

Spyros Maniatopoulos, Dimos V. Dimarogonas, Kostas J. Kyriakopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution


This paper presents an approach for the multiagent navigation and conflict resolution problem, that considers the issue of performance. We present a decentralized predictive navigation scheme that combines the Decentralized Navigation Functions methodology with the Model Predictive Control (MPC) framework while preserving the former's collision avoidance and convergence guarantees. Aircrafts, flying at constant altitude, are modeled as unicycles. Performance criteria are encoded in a cost functional. Due to decentralization, each agent does not take into account the decisions of others in the control law calculation, resulting in performance discrepancies. Therefore, we employ event-triggered executions in our scheme. The improved performance is demonstrated through simulations.

Original languageEnglish (US)
Title of host publication2012 American Control Conference, ACC 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)9781457710957
StatePublished - 2012
Event2012 American Control Conference, ACC 2012 - Montreal, QC, Canada
Duration: Jun 27 2012Jun 29 2012

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2012 American Control Conference, ACC 2012
CityMontreal, QC

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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