A real-time Plan-and-Avoid framework resolves predicted well-clear violations by generating minimally intrusive unilateral advisories to surrounding cooperative traffic while preserving a declared priority trajectory.
Multi-agent rein- forcement learning-based coordinated dynamic task allocation for het- erogenous uavs,
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Plan-and-Avoid: Real-Time Aircraft Trajectory Coordination in a Multi-Agent Environment
A real-time Plan-and-Avoid framework resolves predicted well-clear violations by generating minimally intrusive unilateral advisories to surrounding cooperative traffic while preserving a declared priority trajectory.