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High-tech giants and start-ups are investing in drone technologies to provideurban air delivery service, which is expected to solve the last-mile problemand mitigate road traffic congestion. However, air delivery service will notscale up without proper traffic management for drones in dense urbanenvironment. Currently, a range of Concepts of Operations (ConOps) for unmannedaircraft system traffic management (UTM) are being proposed and evaluated byresearchers, operators, and regulators. Among these, the tube-based (orcorridor-based) ConOps has emerged in operations in some regions of the worldfor drone deliveries and is expected to continue serving certain scenarios thatwith dense and complex airspace and requires centralized control in the future.Towards the tube-based ConOps, we develop a route network planning method todesign routes (tubes) in a complex urban environment in this paper. In thismethod, we propose a priority structure to decouple the network planningproblem, which is NP-hard, into single-path planning problems. We alsointroduce a novel space cost function to enable the design of dense and alignedroutes in a network. The proposed method is tested on various scenarios andcompared with other state-of-the-art methods. Results show that our method cangenerate near-optimal route networks with significant computationaltime-savings.

A Route Network Planning Method for Urban Air Delivery