This work defines the intersection volume created in a multilane architecture and the related terminologies. We consider the problem of intersection planning and lane changing in the context of geofenced lanes proposed in the previously published CORRIDRONE architecture. We propose an algorithm for an intersection planner that uses lane changing to negotiate the intersection safely and can be utilized for traffic management. Path planning through the intersection is segregated based on continuous/disjoint lanes, which are further subdivided into lanes with equal and unequal altitudes for the disjoint case. Paths through an intersection combine the preflight and in-flight procedures in the spatiotemporal regime and are a function of the lanes.

• S R Nagrare, A. Ratnoo, and D Ghose “Intersection Planning for Multilane Unmanned Aerial Vehicle Traffic Management”, AIAA Journal of Aerospace and Information Systems, vol. 21, No. 3, 2023, pp. 216-233. 

(Link to the paper)

This work presents three important elements that are vital to designing optimal and efficient mobility systems in the air, namely, practical considerations for lane geometry design, different compliance levels of the drones and their effect on the lane geometry and geo-fencing, and the concept of adaptive geo-fencing that operates in real-time to provide additional safety to drones flying in close proximity. Though they are vital to formalization and standardization of drone mobility systems, these elements, their development, and their interplay have not received significant attention in the existing architectures. 

• Tony, Lima Agnel, Ashwini Ratnoo, and Debasish Ghose. "Lane geometry, compliance levels, and adaptive geo-fencing in corridrone architecture for urban mobility." 2021 International Conference on Unmanned Aircraft Systems (ICUAS). IEEE, 2021. 

(Link to the paper)

This work develops a cooperative guidance algorithm that determines the desired speed and heading of all the UAVs in the corridor such that the target UAV insertion into the loiter lane is collision-free. Apart from the guidance algorithm development, the minimum distance at which the loiter lane should be placed from the main lane is also determined based on the operating speed range of the fixed-wing UAVs.

• K. Siddhardha and A. Ratnoo:“Cooperative Loiter Lane Diversion Guidance Planning for Fixed-Wing UAV Corridors,” AIAA Science and Technology Forum and Exposition, National Harbour, Maryland, USA, Jan 23-27, 2023, AIAA-Paper 2023-2164. 

(Link to the paper)