Abstract
This paper proposes a parallel model predictive control (MPC) scheme for planning conflict-free trajectories for multiple aircraft, in which each aircraft's computer synchronously solves mixed-integer quadratically constrained quadratic programming (MIQCQP) problems. The main contribution of this paper is the formulation of compatibility constraints for the separation of aircraft, which guarantees recursive feasibility and enables synchronous calculations. Moreover, the constraints on the velocity and acceleration, which are often overly simplified in existing studies, are tightly formulated in the framework of mixed-integer linear constraints. Through numerical simulations, the effectiveness of the scheme is confirmed in terms of the scalability, the recursive feasibility, and the validity of the trajectories.
