An Efficient Trajectory Negotiation and Verification Method Based on Spatiotemporal Pattern Mining

Algorithm 1

Spatiotemporal mining algorithm.

1. Input: The location and weight information of aircrafts at different times in the airspace

2. Output: Flight combinations satisfying flight interval constraints at different times

3. For extension in item sets

   Calculate the flight intervals between the expansion item and other items at the same time;

   If the horizontal and vertical intervals satisfy the interval constraints and this item is in front of the extension item

     add to predecessors

   Else if the horizontal and vertical intervals satisfy the interval constraints and this item is located after the extension

     add to candidates

   End if

   Use pruning strategy to remove some candidates

   Add candidate to the extension recursively until the candidates of the extension are empty

 End for