# Multi UAVs Preflight Planning in a Shared and Dynamic Airspace

arXiv: https://arxiv.org/abs/2602.12055 · HTML: https://mlsanity.com/paper/2602.12055/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 5 of its 34 references that are in the map.
- First posted on arXiv 12 Feb 2026.

## Builds on (most cited first, 5 of 5)

- [Searching with Consistent Prioritization for Multi-Agent Path Finding](https://mlsanity.com/paper/1812.06356/) (2018)
- [EECBS: A Bounded-Suboptimal Search for Multi-Agent Path Finding](https://mlsanity.com/paper/2010.01367/) (2020)
- [Lifelong Multi-Agent Path Finding for Online Pickup and Delivery Tasks](https://mlsanity.com/paper/1705.10868/) (2017)
- [Adaptive Anytime Multi-Agent Path Finding Using Bandit-Based Large Neighborhood Search](https://mlsanity.com/paper/2312.16767/) (2023)
- [Anytime Multi-Agent Path Finding with an Adaptive Delay-Based Heuristic](https://mlsanity.com/paper/2408.02960/) (2024)

## Abstract (arXiv)

Preflight planning for large-scale Unmanned Aerial Vehicle (UAV) fleets in dynamic, shared airspace presents significant challenges, including temporal No-Fly Zones (NFZs), heterogeneous vehicle profiles, and strict delivery deadlines. While Multi-Agent Path Finding (MAPF) provides a formal framework, existing methods often lack the scalability and flexibility required for real-world Unmanned Traffic Management (UTM). We propose DTAPP-IICR: a Delivery-Time Aware Prioritized Planning method with Incremental and Iterative Conflict Resolution. Our framework first generates an initial solution by prioritizing missions based on urgency. Secondly, it computes roundtrip trajectories using SFIPP-ST, a novel 4D single-agent planner (Safe Flight Interval Path Planning with Soft and Temporal Constraints). SFIPP-ST handles heterogeneous UAVs, strictly enforces temporal NFZs, and models inter-agent conflicts as soft constraints. Subsequently, an iterative Large Neighborhood Search, guided by a geometric conflict graph, efficiently resolves any residual conflicts. A completeness-preserving directional pruning technique further accelerates the 3D search. On benchmarks with temporal NFZs, DTAPP-IICR achieves near-100% success with fleets of up to 1,000 UAVs and gains up to 50% runtime reduction from pruning, outperforming batch Enhanced Conflict-Based Search in the UTM context. Scaling successfully in realistic city-scale operations where other priority-based methods fail even at moderate deployments, DTAPP-IICR is positioned as a practical and scalable solution for preflight planning in dense, dynamic urban airspace.