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Recently, there has been immense interest in using unmanned aerial vehicles(UAVs) for civilian operations such as package delivery, firefighting, and fastdisaster response. As a result, UAV traffic management systems are needed tosupport potentially thousands of UAVs flying simultaneously in the airspace, inorder to ensure their liveness and safety requirements are met. Hamilton-Jacobi(HJ) reachability is a powerful framework for providing conditions under whichthese requirements can be met, and for synthesizing the optimal controller formeeting them. However, due to the curse of dimensionality, HJ reachability isonly tractable for a small number of vehicles if their set of maneuvers isunrestricted. In this paper, we define a platoon to be a group of UAVs in asingle-file formation. We model each vehicle as a hybrid system with modescorresponding to its role in the platoon, and specify the set of allowedmaneuvers in each mode to make the analysis tractable. We propose severalliveness controllers based on HJ reachability, and wrap a safety controller,also based on HJ reachability, around the liveness controllers. For a singlealtitude range, our approach guarantees safety for one safety breach; in theunlikely event of multiple safety breaches, safety can be guaranteed overmultiple altitude ranges. We demonstrate the satisfaction of liveness andsafety requirements through simulations of three common scenarios.

Safe Platooning of Unmanned Aerial Vehicles via Reachability