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Unmanned aerial vehicle (UAV) formation flying is an efficient and economical operation mode for air transportation systems. To improve the effectiveness of synergetic formation control for UAVs, this paper proposes a pairwise conflict resolution approach for UAV formation through mathematical analysis and designs a dynamic pairing and deep reinforcement learning framework (P-DRL formation control framework). Firstly, a new pairwise UAV formation control theorem is proposed, which breaks down the multi-UAVs formation control problem into multiple sequential control problems involving UAV pairs through a dynamic pairing algorithm. The training difficulty of Agents that only control each pair (two UAVs) is lower compared to controlling all UAVs directly, resulting in better and more stable formation control performance. Then, a deep reinforcement learning model for a UAV pair based on the Environment–Agent interaction is built, where segmented reward functions are designed to reduce the collision possibility of UAVs. Finally, P-DRL completes the formation control task of the UAV fleet through continuous pairing and Agent-based pairwise formation control. The simulations used the dynamic pairing algorithm combined with the DRL architectures of asynchronous advantage actor–critic (P-A3C), actor–critic (P-AC), and double deep q-value network (P-DDQN) to achieve synergetic formation control. This approach yielded effective control results with a strong generalization ability. The success rate of controlling dense, fast, and multi-UAV (10–20) formations reached 96.3%, with good real-time performance (17.14 Hz).

Synergetic trajectory planning of flights is one of the important goals of trajectory-based operation (TBO), and it is also a method to further improve the utilization of airspace resources with the increasing number of flights in recent years. In order to plan the four-dimensional trajectory (4DT) pre-tactically and comprehensively, match the flight traffic with airspace capacity, reduce congestion, potential conflicts, and fuel consumption thus improving the efficiency of flights, this paper conducts a method for synergetic trajectory planning in the en-route phase from the perspective of airlines. Firstly, the aircraft performance model, aircraft fuel consumption model, and atmospheric model are constructed according to the base of aircraft data (BADA3.11), and an airspace congestion prediction model is constructed based on the historical flow data of airspace. Secondly, a multi-objective synergetic trajectory planning model is established, and a solution method based on the non-dominated sorting genetic algorithm and simulated annealing algorithm (NSGA3-SA) for the problem of synergetic trajectory planning is designed. The simulation shows that the optimization model and the solution algorithm of NSGA3-SA can reduce fuel consumption by about 4.5% compared to the original flight plans and has a good effect on reducing congestion and avoiding conflicts. The running time of the NSGA3-SA can meet the operational requirements of the pre-tactical trajectory planning. The multi-objective optimization model and the solution algorithm proposed in this paper have great value for the research of flight plan optimization.

To improve the trajectory prediction accuracy of unmanned aerial vehicles (UAVs) with random behavior intentions, this paper presents a short-term four-dimensional (4D) trajectory prediction method based on spatio-temporal trajectory clustering. A spatio-temporal trajectory clustering algorithm is first designed to cluster the UAV trajectory segments divided by a fixed time window. Each trajectory segment is given a category label that represents some certain type of behavior characteristics, such as climbing, turning, descending, etc. The convolutional neural network (CNN) is used to identify the category label of a given trajectory segment by learning the behavior characteristics of different trajectory segments. Based on the long-short-term memory network (LSTM), a short-term trajectory prediction model for different categories of label trajectory segments is established. The global trajectory prediction includes several steps adopting the corresponding prediction models. Historical trajectory data of UAVs are used to validate the proposed prediction method. Experiment results indicate that the method can obtain obviously better prediction accuracy in a short prediction time range (0-3s) with acceptable efficiency compared to LSTM, GRU and velocity trend extrapolation.

General aviation accidents have complex interactions and influences within them that cannot be simply explained and predicted by linear models. This study is based on chaos theory and uses general aviation accident data to conduct research on different timescales (HM-scale, ET-scale, and EF-scale). First, time series are constructed by excluding seasonal patterns from the statistics of general aviation accidents. Secondly, the chaotic properties of multi-timescale series are determined by the 0–1 test and Lyapunov exponent. Finally, by introducing the sparrow search algorithm and tent chaotic mapping, a CSSA-LSSVM prediction model is proposed. The accident data of the National Transportation Safety Board (NTSB) of the United States in the past 15 years is selected for case analysis. The results show that the phase diagram of the 0–1 test presents Brownian motion characteristics, and the maximum Lyapunov exponents of the three scales are all positive, proving the chaotic characteristics of multi-timescale series. The CSSA-LSSVM prediction model’s testing results illustrate its superiority in time series predicting, and when the timescale declines, the prediction error reduces gradually while the fitting effect strengthens and then decreases. This study uncovers the nonlinear chaotic features of general aviation accidents and demonstrates the significance of multi-timescale research in time series analysis and prediction.

The increasing number of unmanned aerial vehicles (UAVs) in low-altitude airspace is seriously threatening the safety of the urban environment. This paper proposes an adaptive collision avoidance method for multiple UAVs (mUAVs), aiming to provide a safe guidance for UAVs at risk of collision. The proposed method is formulated as a two−layer resolution framework with the considerations of speed adjustment and rerouting strategies. The first layer is established as a deep reinforcement learning (DRL) model with a continuous state space and action space that adaptively selects the most suitable resolution strategy for UAV pairs. The second layer is developed as a collaborative mUAV collision avoidance model, which combines a three-dimensional conflict detection and conflict resolution pool to perform resolution. To train the DRL model, in this paper, a deep deterministic policy gradient (DDPG) algorithm is introduced and improved upon. The results demonstrate that the average time required to calculate a strategy is 0.096 s, the success rate reaches 95.03%, and the extra flight distance is 26.8 m, which meets the real-time requirements and provides a reliable reference for human intervention. The proposed method can adapt to various scenarios, e.g., different numbers and positions of UAVs, with interference from random factors. The improved DDPG algorithm can also significantly improve convergence speed and save training time.