@conference {PBP02,
	title = {Safety of a decentralized scheme for Free-Flight ATMS using Mixed Integer Linear Programming},
	booktitle = {American Control Conference},
	year = {2002},
	month = {May},
	pages = {742-747},
	abstract = {<p>In this paper we consider policies for free-flight management of air traffic. We consider instantaneous and bounded heading angle deviation as conflict avoidance maneuvers. The corresponding model, resulting in a Mixed Integer Linear Programming (MILP) problem allow to solve both conflict detection and conflict resolution problems. The developed algorithm proved successful in a centralized implementation with a large number of cooperating aircraft. However, the application of such algorithm to a Free Flight environment, where cooperation can only be expected from neighboring aircraft, poses many challenges. We consider a model of the decentralized conflict resolution strategy that is based on a hybrid system, and sufficient conditions under which a 3-aircraft Free Flight MILP-based scheme guarantees safety of flight are provided.</p>
},
	keywords = {Embedded Control, Robotics},
	author = {L. Pallottino and A. Bicchi and S. Pancanti}
}
