Loss of Well Clear (LoWC) Prevention in Multi-Drone Encounters using Kinodynamic Motion Planning

The safe integration of Unmanned Aerial Vehicles (UAVs) into shared airspace necessitates robust conflict detection and avoid (DAA) methods that scale effectively with multiple dynamic intruders. Geometric methods, such as those in the DO-365 standard, are provably safe for pairwise encounters but become intractable in dense environments. Conversely, applying kinodynamic motion planners designed for static obstacles to dynamic scenarios leads to unstable behavior, characterized by excessive re-planning and oscillatory motion, as they lack a predictive model of intruder trajectories. This paper introduces a closed-loop planning framework based on the Closed-Loop Rapidly-exploring Random Tree* (CL-RRT*) algorithm to prevent Loss of Well-Clear (LoWC) in multi-intruder scenarios. Our approach integrates a closed-loop dynamics model to guarantee dynamically feasible trajectories and incorporates a spatiotemporal planning strategy. A time-to-come metric is propagated from the tree root to all nodes, enabling prediction of the state and time at future trajectory points. Predicted states are continuously evaluated against known intruder trajectories (from ADS-B or perception system) using the formal DO-365 well-clear criteria, checking each point against the Hazard Area Zone (HAZ) via Horizontal Miss Distance (HMD) and Distance-Modification-for-Tau (DMOD) metrics. Simulations demonstrate that the proposed planner successfully generates safe and feasible trajectories that prevent LoWC in complex multi-intruder scenarios.