Pre-Flight Conflict Detection and Resolution (CDR) methods are an important mechanism to ensure conflict-free airspace before actual flight.

Technically, this problem translates to a Multi Agent Path Finding (MAPF) problem. We are currently experimenting with several optimization algorithms, including Conflict Based Search (CBS), Enhanced CBS (ECBS), and Local Replanning.

Further, we are considering Combinatorial Auctions to address the problem of different valuations and priorities in sharing airspace among different UAS Operators.