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Coordination of local and global aerial traffic has become a legal andtechnological bottleneck as the number of unmanned vehicles in the commonairspace continues to grow. To meet this challenge, automation anddecentralization of control is an unavoidable requirement. In this paper, wepresent a solution that enables self-organization of cooperating autonomousagents into an effective traffic flow state in which the common aerialcoordination task - filled with conflicts - is resolved. Using realisticsimulations, we show that our algorithm is safe, efficient, and scalableregarding the number of drones and their speed range, while it can also handleheterogeneous agents and even pairwise priorities between them. The algorithmworks in any sparse or dense traffic scenario in two dimensions and can be madeincreasingly efficient by a layered flight space structure in three dimensions.To support the feasibility of our solution, we experimentally demonstratecoordinated aerial traffic of 100 autonomous drones within a circular area witha radius of 125 meters.

Decentralized traffic management of autonomous drones