System and method for planning/replanning collision free flight plans in real or accelerated time

摘要

A system and method for planning/replanning collision free flight plans in real-time (or accelerated-time) including planning individual flight plans for each flying asset, executing (or simulating) the planned individual flight plans, detecting violations of safety zones of each of the flying assets by negotiation and by other assets monitoring (radar sensing), and repairing the individual flight plans by real-time replanning.