An algorithm is described which finds a set of flyable, conflict-free trajectories for an aircraft which must fly through an environment containing obstacle aircraft whose trajectories are known. The algorithm makes systematic use of a maneuver generator and a conflict detector. The maneuver generator may embody a variety of aircraft behavior models which might, for example, take into account standard turn behavior and wind predictions. The conflict detector may embody a variety of defintions of what makes a trajectory unacceptable, and might, for example, take into account growing uncertainty in the future positions of aircraft. Correctness of solution trajectories is readily demonstrable. The algorithm is primarily intended for use in free-flight air traffic control simulations but might also be used in operational applications (ground or air-based) should conflict resolution assistance be required. In an automated simulation a solution trajectory can be chosen from the resulting set of conflict-free trajectories in accordance with optimization criteria. The algorithm may be used for prioritized planning of the motion of a number of aircraft. It may also be used to solve motion-planning problems in domains other than air traffic control.


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