An algorithm for conflict/collision detection in dense traffic

• Introduced the PAZ, a concept of dynamic hazardous cylinder • ADS-B enables the generation of more accurate trajectory prediction • Using a constant turn rate and constant vertical velocity propagation outperforms the classical constant velocity propagation • Compared to classical trajectory propagation: — Increased average time between alert and CAZ violation — Reduced variability in alert triggering time • Algorithm robust to message delays (details in paper)