Airspace management of autonomous UAVs

One major issue currently preventing the adoption of autonomous unmanned air vehicles (UAVs) is the lack of airspace management to prevent the UAVs from colliding with each other, with human-piloted planes or helicopters, with static objects such as buildings, and with dynamic flying objects such as flocks of birds. In this work, we present a novel airspace management approach to autonomous UAVs. Our airspace management system allows UAVs to dynamically and autonomously choose between three modes of operation: (i) centralized, (ii) cooperative decentralized, (iii) noncooperative decentralized.