发表机构
University of California, Los Angeles（加州大学洛杉矶分校）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出一种结合VCG机制与凸安全走廊的多阶段运动规划框架，用于先进空中交通系统中私有成本智能体的碰撞避免，激励真实偏好披露并实现安全去中心化协调。
AI 中文摘要
先进空中交通（AAM）系统需要可扩展的协调机制来管理在共享、容量受限的空域中运行的大型飞行器编队。在此类环境中，不同运营者可能对轨迹特性（如旅行时间、燃油消耗或偏离标称航线的程度）拥有私有偏好。如果集中式交通管理依赖于自报偏好，运营者可能会策略性地虚报其成本以获得更有利的轨迹。本文提出了一种结合机制设计的多阶段运动规划框架，以实现具有私有已知成本的AAM系统的碰撞避免。所提方法将凸安全走廊构建与受VCG启发的机制相结合，以确保在受限空域中无冲突通行，同时激励私有偏好的真实披露。仿真结果表明，具有异构偏好的智能体之间实现了安全且去中心化的协调。
英文摘要
Advanced Air Mobility (AAM) systems require scalable coordination mechanisms to manage large fleets of aerial vehicles operating in shared, capacity-limited airspace. In such environments, different operators may have private preferences over trajectory characteristics, such as travel time, fuel consumption, or deviation from nominal routes. If centralized traffic management relies on self-reported preferences, operators may strategically misreport their costs to obtain more favorable trajectories. This paper proposes a multistage motion planning framework augmented with mechanism design to enable collision avoidance for AAM systems with privately known costs. The proposed approach integrates convex safe corridor construction with a VCG-inspired mechanism to ensure conflict-free passage through constrained airspace while incentivizing truthful revelation of private preferences. Simulation results demonstrate safe and decentralized coordination among agents with heterogeneous preferences.
CommentsAccepted to the 2026 IEEE Conference on Decision and Control (CDC)
