Market based detect and avoid (daa) solutions

A method comprising:

• receiving, by an unmanned aircraft system (UAS) traffic management (UTM) server, one or more intended trajectories from one or more unmanned aerial vehicles (UAVs);
• determining, by the UTM server one or more conflicts based on the intended trajectories intersecting over a region monitored by the UTM server;
• and
• communicating, by the UTM server the one or more conflicts, the communicating comprising:
• assigning a value to each of a plurality of three-dimensional (3D) grid cells representing the region monitored by the UTM server, each value representative of a potential for conflict associated with a grid cell;
• and
• transmitting, to the one or more UAVs, value data associated with the plurality of grid cells.

An apparatus comprising a processor configured to perform at least:

• receiving, by an unmanned aerial vehicle (UAV), an environment configuration from a traffic management system server, the environment configuration including at least a size of a tessellated grid of cells representative of a conflict zone, a resolution of the grid of cells and a suitable time horizon parameter representative of a required time for conflict detection;
• transmitting, by the UAV, one or more of a position and a set of one or more grid cell identifiers representing waypoints;
• receiving, for a given time period, a set of values associated with identified cells of the grid of cells, the set of values identifying a likelihood of conflict for one or more of the identified cells;
• determining an updated set of the one or more grid cell identifiers if the set of values identifying the likelihood of conflict is non-zero.