提出公平冲突化解的飞行规划方案，让城市空中交通各运营商共享空域更公平。
Fair-CoPlan: Negotiated Flight Planning with Fair Deconfliction for Urban Air Mobility
- 通过三方协商机制，分步优化飞行路径以保障公平性
- 模拟显示相比非公平规划，路径长度差异减少37%，仅增加轻微延迟
- 适合关注城市空中交通公平性与安全性的研究者与从业者
城市空中交通（UAM）是一种新兴交通模式，由无人航空系统（UAS）在城市中自主运送乘客与货物。不同运营商拥有各自目标，但需共享空域。现有规划器可能导致部分UAS路径显著缩短，牺牲其他系统利益。本文提出Fair-CoPlan，一种由运营商与城市空中交通服务提供方（PSU）协同的半分布式飞行规划方案，实现路径长度的公平优化。该方法包含三步：首先，PSU根据起降点容量约束起飞与降落选择；其次，各运营商在约束下独立规划；最后，PSU解决路径冲突，优先优化路径长度公平性。实验表明，相较于非公平规划，该方法显著降低路径长度差异达37%，仅带来轻微延迟，有效促进参与度、保障空域及地面安全，并提升运营商灵活性。
原文摘要 · Abstract (English)
Urban Air Mobility (UAM) is an emerging transportation paradigm in which Uncrewed Aerial Systems (UAS) autonomously transport passengers and goods in cities. The UAS have different operators with different, sometimes competing goals, yet must share the airspace. We propose a negotiated, semi-distributed flight planner that optimizes UAS' flight lengths {\em in a fair manner}. Current flight planners might result in some UAS being given disproportionately shorter flight paths at the expense of others. We introduce Fair-CoPlan, a planner in which operators and a Provider of Service to the UAM (PSU) together compute \emph{fair} flight paths. Fair-CoPlan has three steps: First, the PSU constrains take-off and landing choices for flights based on capacity at and around vertiports. Then, operators plan independently under these constraints. Finally, the PSU resolves any conflicting paths, optimizing for path length fairness. By fairly spreading the cost of deconfliction Fair-CoPlan encourages wider participation in UAM, ensures safety of the airspace and the areas below it, and promotes greater operator flexibility. We demonstrate Fair-CoPlan through simulation experiments and find fairer outcomes than a non-fair planner with minor delays as a trade-off.
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