In this paper, we propose a conflict-free multi- agent flight scheduling that ensures robust separation in con- strained airspace for Urban Air Mobility (UAM) operations application. First, we introduce Pairwise Conflict Avoidance (PCA) based on delayed departures, leveraging kinematic principles to maintain safe distances. Next, we expand PCA to multi-agent scenarios, formulating an optimization approach that systematically determines departure times under increasing traffic densities. Performance metrics, such as average delay, assess the effectiveness of our solution. Through numerical simulations across diverse multi-agent environments and real- world UAM use cases, our method demonstrates a significant reduction in total delay while ensuring collision-free operations. This approach provides a scalable framework for emerging urban air mobility systems.

翻译：本文提出一种适用于城市空中交通（UAM）运行场景的无冲突多智能体飞行调度方法，旨在受限空域中实现鲁棒间隔保持。首先，我们基于延迟起飞策略引入基于运动学原理的成对冲突规避（PCA）机制，以维持安全距离。随后，我们将PCA扩展至多智能体场景，构建了一种系统化确定起飞时间的优化方法，可适应不断增长的交通密度。通过平均延迟等性能指标评估方案有效性。在多智能体仿真环境及真实UAM用例的数值模拟中，本方法在确保无碰撞运行的同时，显著降低了总延迟时间。该研究为新兴城市空中交通系统提供了可扩展的框架。