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Safely integrating unmanned aerial vehicles into civil airspace is contingentupon development of a trustworthy collision avoidance system. This paperproposes an approach whereby a parameterized resolution logic that isconsidered trusted for a given range of its parameters is adaptively tunedonline. Specifically, to address the potential conservatism of the resolutionlogic with static parameters, we present a dynamic programming approach foradapting the parameters dynamically based on the encounter state. We computethe adaptation policy offline using a simulation-based approximate dynamicprogramming method that accommodates the high dimensionality of the problem.Numerical experiments show that this approach improves safety and operationalperformance compared to the baseline resolution logic, while retainingtrustworthiness.

Optimized and Trusted Collision Avoidance for Unmanned Aerial Vehicles using Approximate Dynamic Programming (Technical Report)