A Causal Model for Safety Assessment Purposes in Opening the Low-Altitude Urban Airspace of Chinese Pilot Cities

Table 1

Summary of publications addressing the CDR problem.

Publication	Dimension	Manoeuvres	Communication	Multiple		Resolution
	3D	T/V/S/C	Cooperative	Pairwise	Global	Geometry algorithm		Trajectory planning algorithm
						PCA	CCA	Force; field	Linear programming	Intelligent
Park, Oh, and Tahk [18]	X	C(T,S)	X	X		X
Chakravarthy and Ghose [19]		T		X			X
Goss, Rajvanshi, and Subbarao [20]	X	C(T,S)		X			X
Carbone et al.; [21]	X	C(T,S)		X			X
Luongo et al. [22]	X	C(T,S)		X			X
Smith and Harmon [23]	X	C(T,V,S)			X		X
Khatib [24]		T						X
Liu, Guo, and Liu [25]	X	C(T,V,S)		X				X
Temizer et al.; [26]	X	C(T,V,S)			X				X
Holt, Biaz, and Aji [27]	X	C(T,V,S)			X			X	X
Sharma and Ghose [28]	X	C(T,V,S)	X		X					X

Note. T=turns, V=vertical manoeuvres, S=speed changes, and C()=combined manoeuvres.