1. J. Maas E. Sunil J. Ellerbroek J. Hoekstra
The effect of Swarming on a Voltage Potential-Based Conflict Resolution Algorithm
J. Maas
E. Sunil
J. Ellerbroek
J. Hoekstra

2. Contents
Why Swarming?
Algorithms
Experiment Design
Results

3. Decentralizing ATC
Capacity
Efficiency
Safety
Comparison

4. Flight Strategies Conflict Detection & Resolution (CD&R)
Kuchar & Yang (2000)
A review of CD&R modelling methods
Qualitative

6. Why Swarming Flying in same direction Reduction of relative speed
More safety between neighbours
Reduction in distance
More ‘compact’ use of space
More capacity
Commitment
Reward
Reward

7. Experiment
The goal of the experiment is to find and explain quantitative consequences of swarming
in decentralized flight conditions
Modified Voltage Potential
Swarming
No Resolution

8. Definitions Separation Minima Loss of Separation (LOS) Conflict
1000 ft
5 nm

9. Modified Voltage Potential (MVP)*
* Hoekstra et al. 2001

10. Swarm Intelligence* (SW)
Collision Avoidance
Velocity Alignment
Flock Centering
* Park et al. 2003

11. Swarm Parameters Element weights Swarm criteria Collision Avoidance 10
Velocity Alignment 3
Flock Centering 1
Swarm criteria
Horizontal distance < 7.5 nm
Vertical distance < 1500 ft
Heading difference <90 degrees

12. Experiment Design

13. Testing Region
Image constructed with

14. Independent Variables
CD&R method
MVP SW
No Resolution
Traffic demand (flights per hour)
50, 125, 200, 275, 350
Repetitions
5 x 1 hour

15. Dependent Variables Safety Efficiency Stability LOS Conflicts
Intrusion severity
Success rate
Efficiency
Route Efficiency
Flight Time
Stability
Domino Effect Parameter

16. Domino Effect Parameter

17. Results - MVP

18. Results - Swarm

19. Safety

20. Efficiency

21. Stability

22. Discussion - Stability
Follow predecessor
Layered Segmentation
SW pays off
4D spreading

23. Discussion – Swarm Principles
Flying in same direction
Reduction of relative speed
More safety between neighbours
Reduction in distance
More ‘compact’ use of space
More capacity VA
Commitment
Efficiency ↓
Reward
Not necessary FC
Reward
No limits found

24. Conclusions MVP has better performance Different SW parameters
Safety
Efficiency
Stability
Different SW parameters
Airspace Stability is complicated

25. J. Maas E. Sunil J. Ellerbroek J. Hoekstra
The effect of Swarming on a Voltage Potential-Based Conflict Resolution Algorithm
J. Maas
E. Sunil
J. Ellerbroek
J. Hoekstra

26. Stability: Conflict Series

27. Conflict Success Rate

28. Noise
Measurement Noise
Turbulence
Sampling Effect