Decentralized Control Synthesis for Air Traffic Management in Urban Air Mobility
Decentralized Control Synthesis for Air Traffic Management in Urban Air Mobility
复制标题
城市空中交通空中交通管理的分散控制综合
DOI：
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复制
发表时间：
2021
影响因子：
4.2
通讯作者：
U. Topcu
中科院分区：
文献类型：
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作者：
Suda Bharadwaj;Steven Carr;N. Neogi;U. Topcu
城市空中交通（UAM）是指城市地区内的航空运输服务，通常以按需方式提供。我们研究 UAM 车队中车辆的空中交通管理 (ATM)，同时保证交通间隔等系统安全要求。无人机系统的现有 ATM 方法（例如 UAS 交通管理）采用的替代方法无法提供严格的安全保证。目前还没有成熟的基础设施可以为 UAM 提供大规模 ATM。我们为 UAM ATM 提供一种分散式、分层的方法，允许可扩展至高流量密度，并为用户提供的安全规范的正确性提供理论保证。我们的主要贡献有两个方面。首先，我们提出了一种新颖的 UAM ATM 架构，该架构在 vertihub 之间划分控制权，每个 vertihub 负责其本地空域内的所有 UAM 车辆。每个垂直枢纽还包含许多负责 UAM 车辆起飞和降落的垂直机场。由此产生的架构是分散式和分层的，这不仅能够实现可扩展性，而且在任何单个垂直枢纽或垂直起落场不再运行的情况下也具有鲁棒性。其次，我们提供了一种基于契约的构造修正反应式综合方法，该方法可证明保证线性时态逻辑中用户提供的规范的安全属性。我们在大量 UAM 空中交通数据上演示了该方法。
Urban air mobility (UAM) refers to air transportation services within an urban area, often in an on-demand fashion. We study air traffic management (ATM) for vehicles in a UAM fleet, while guaranteeing system safety requirements such as traffic separation. Existing ATM methods for unmanned aerial systems, such as UAS traffic management, utilize alternative approaches which do not provide strict safety guarantees. No established infrastructure exists for providing ATM at scale for UAM. We provide a decentralized, hierarchical approach for UAM ATM that allows for scalability to high traffic densities as well as providing theoretical guarantees of correctness with respect to user-provided safety specifications. Our main contributions are two-fold. First, we propose a novel UAM ATM architecture that divides the control authority between vertihubs that are each in charge of all UAM vehicles in their local airspace. Each vertihub also contains a number of vertiports that are in charge of UAM vehicle takeoffs and landings. The resulting architecture is decentralized and hierarchical, which not only enables scalability, but also robustness in the event of any individual vertihub or vertiport no longer being operational. Second, we provide a contract-based correct-by-construction reactive synthesis approach that provably guarantees safety properties with respect to user-provided specifications in linear temporal logic. We demonstrate the approach on large-volume UAM air traffic data.