Systems and methods for continuous replanning of vehicle trajectories

A method for planning a path of a vehicle through an area, the method comprising:

• modeling, within a computer memory, a selected area of flight space as a plurality of sub-areas;
• associating a value with each of the sub-areas based on a propagation of both aircraft and obstacles through the sub-areas up to a current time and into future time;
• selecting one of the aircraft as a primary aircraft;
• and
• determining a flight path for the primary aircraft through the airspace based on a component of the value comprising repulsion signals associated with all aircraft other than the primary aircraft and the obstacles.

A system for planning a path of a vehicle through an area, the system comprising a processor and a memory coupled to the processor for storing data to be processed by the processor, the processor being configured to:

• model, within a computer memory, a selected area of flight space as a plurality of sub-areas;
• associate a value with each of the sub-areas based on a propagation of both aircraft and obstacles through the sub-areas up to a current time and into future time;
• select one of the aircraft as a primary aircraft;
• and
• determine a flight path for the primary aircraft through the airspace based on a component of the value comprising repulsion signals associated with all aircraft other than the primary aircraft and the obstacles.