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two-dimensional
logic.
20 Example
two-dimensional
encounter.
21 6 Two-dimensional
logic
safety
curve.
23 7 Metric
evaluation
on
two-dimensional
model.
24 8 Optimal
action
plots
for
the
two-dimensional
logic.
27 9 Parametric
robustness
with
varying
environment
and
constant
logic.
28 Parametric
robustness
with
varying
logic
and
constant
environment.
29 11 Model
structure
robustness.
29 12 Robust
logic
performance
on
white-noise
encounter
model.
30 13 Probability
of
NMAC
across
the
discrete
state
space.
33 14 In.uence
diagram
illustrating
partial
control
in
a
Markov
decision
process.
36 Three-variable
model
of
horizontal
dynamics.
38 16 Mean
of
the
entry
distribution
for
two
slices
of
the
state
space.
40 17 Example
three-dimensional
encounter.
42 18 Example
entry
time
distribution
slices.
43 19 Three-dimensional
logic
safety
curves.
45 Optimal
action
plots
for
.ve
terminal
cycles.
46 21 Probabilistic
pilot
response
models.
48 22 Optimal
action
plots
for
probabilistic
pilot
response
models.
50 23 Example
encounter
using
probabilistic
pilot
response.
52 24 Evolution
of
the
advisory
belief
state
for
a
probabilistic
pilot
response
encounter.
53 Evolution
of
the
entry
time
distribution
for
a
probabilistic
pilot
re-
sponse
encounter.
54 26 Example
distributions
of
advisory
changes
and
advisory
duration.
56 27 State
estimation
process.
58 28 Convergence
curves
for
DP
and
TCAS
with
and
without
sensor
noise.
61 29 Sensor
noise
robustness.
62 Optimal
action
plots
for
the
coordinated
logic.
67
31 Example
coordinated
encounter.
72 32 Closest
command
arbitration
strategy.
76 33 Utility
fusion
strategies.
78 34 Example
multithreat
encounter
comparing
the
performance
of
a
DP

multithreat
strategy
with
TCAS.
79 A-1 Notional
diagram
of
expected
cost
.le
format.
87 B-1 Recursive
estimation
process
using
the
Kalman
.lter.
91 B-2 The
unscented
transform.
93 B-3 Horizontal
tracking
performance.
96 B-4 Vertical
tracking
performance.
97

LIST OF TABLES

Table
Page
No.
1 Reduced
advisory
set
14 2 Discretization
scheme
16 3 Event
costs
18 4 Performance
evaluation
on
head-on
encounters
22 5 Robust
logic
performance
on
correlated
encounter
　
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