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Centralized and Distributed UTM in Layered Airspace
Leonid Sedov, Valentin PolishchukLinköping University
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The animated version of these slides is available online - https://tinyurl.com/icrat18utm
1. Introduction and motivation
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ATM realityPre-planned airport-to-airport flights
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UTM designer dream (NASA, Ectl ConOps) = ATM reality
● All know all● Centralized system● Flightplans submitted● Conflicts checked● Conflicting flightplans delayed
(Ground Delay Program)
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UTM designer dream (NASA, Ectl ConOps) = ATM reality
● All know all● Centralized system● Flightplans submitted● Conflicts checked● Conflicting flightplans delayed
(Ground Delay Program)
COMMon UNmanned Integrated System
Management
COMMUNISM 5
UTM ≠ ATM
Model Boeing 747-400 DJ Phantom 4
Max # of passengers 660 0
Speed 982 km/h 72 km/h
Weight 184.567 kg 1,4 kg
Length x Width x Height 70,60 m x 64,44 m x 19,41 m 0,32m x 0,38 m x 0,22 m
Requires runway 6
Drone aerodromes
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Flexibility where possible, structure where necessary
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2. Airspace designs
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Single-layer design
All drones occupy the same altitude
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Ground Delay12
The animated version of this slide is available online - https://tinyurl.com/icrat18utm
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Ground Delay
The animated version of this slide is available online - https://tinyurl.com/icrat18utm
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Ground Delay
The animated version of this slide is available online - https://tinyurl.com/icrat18utm
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Airborn delay (hovering)
The animated version of this slide is available online - https://tinyurl.com/icrat18utm
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Airborn delay (hovering)
The animated version of this slide is available online - https://tinyurl.com/icrat18utm
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Airborn delay (hovering)
The animated version of this slide is available online - https://tinyurl.com/icrat18utm
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Airborn delay (hovering)
The animated version of this slide is available online - https://tinyurl.com/icrat18utm
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Multi-layer design
20Something similar to “Layers” in Metropolis project ↑
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Layer assignment
The animated version of this slide is available online - https://tinyurl.com/icrat18utm
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Layer assignment
The animated version of this slide is available online - https://tinyurl.com/icrat18utm
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Layer assignment
The animated version of this slide is available online - https://tinyurl.com/icrat18utm
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Descending
The animated version of this slide is available online - https://tinyurl.com/icrat18utm
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Descending
The animated version of this slide is available online - https://tinyurl.com/icrat18utm
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Descending
The animated version of this slide is available online - https://tinyurl.com/icrat18utm
Conflict resolution algorithms
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Single-layer Multi-layer
Centralized Ground delay Layer assignment
Distributed Hovering On-demand descending
Single- vs Multi-layer
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Single-layer design Multi-layer design
Limited need in airspace The airspace is limited
Loss of efficiency No loss of efficiency
3. Simulation
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InstantiationCal model
● [Bulusu, Sengupta, Liu (Berkeley) @ ICRAT'16] ● [PK (NASA's UTM PI) @ Google:
"every home will have a drone and every home will serve as an aerodrome"]
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Population density
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UAV = disk
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Ground Delay: Direct flight
3333Figure 3 from [Bulusu, Sengupta, Liu (Berkeley) @ ICRAT'16]
Hovering
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Layer assignment
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Layer assignment == Graph coloring
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Nodes = UAVsEdges = conflictsColors = layers
Descending
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Input● Population density map● Expected number of flights N● Radius r of UAV
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4. Results
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Average extension of travel time
Decentralized (hovering)Centralized (ground delay)40
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Ground Delay
Percentage of UAVs lost > 10% of time
Centralized (ground delay) Decentralized (hovering) 42
Delay probability
Almost the same for hovering
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Number of layers used
Centralized (layer assignment) Decentralized (descending) 44
Distribution of drones
Centralized (layer assignment) Decentralized (descending)45
% of UAVs in a vertical collision, hovering
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% of UAVs in a vertical collision, layer assignment
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% in a vertical collision, on-demand descending
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+ the same collisions as in layer assignment
What if we distribute drones among layers based on heading direction?
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5. Conclusion and further work
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ConclusionIs centralized always better?
Understand UTM automation levelHow central should UTM be?
Mantras
● Flexibility where possible, structure where necessary [PK et al, NASA ConOps]
● When technology is right, regulation is light [F. Schubert, Skyguide CCO]
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Further work● Limit the number of layers● Other coloring
○ Sum coloring○ Balanced coloring○ Equitable coloring
● Other deconfliction strategies
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Further work● Limit the number of layers● Other coloring
○ Sum coloring○ Balanced coloring○ Equitable coloring
● Other deconfliction strategies
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