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This paper aims to propose a new multi-layered optimal navigation system that jointly optimizes the energy consumption, improves the robustness and raises the performance of a quadrotor unmanned aerial vehicle (UAV).

The proposed system is designed as a multi-layered system. First, the control architecture layer links the input and the output spaces via quaternion-based differential flatness equations. Then, the trajectory generation layer determines the optimal reference path and avoids obstacles to secure the UAV from collisions. Finally, the control layer allows the quadrotor to track the generated path and guarantees the stability using a double loop non-linear optimal backstepping controller (OBS).

All the obtained results are confirmed using several scenarios in different situations to prove the accuracy, energy optimization and the robustness of the designed system.

The proposed controllers are easily implementable on-board and are computationally efficient.

The originality of this research is the design of a multi-layered optimal navigation system for quadrotor UAV. The proposed control architecture presents a direct relation between the states and their derivatives, which then simplifies the trajectory generation problem. Furthermore, the derived differentially flat equations allow optimization to occur within the output space as opposed to the control space. This is beneficial because constraints such as obstacle avoidance occur in the output space; hence, the computation time for constraint handling is reduced. For the OBS, the novelty is that all controller parameters are derived using the multi-objective genetic algorithm (MO-GA) that optimizes all the quadrotor state’s cost functions jointly.

Airspace sectorization is an important task, which has a significant impact in the everyday work of air control services. Especially in recent years, because of the constant increase in air traffic, existing airspace sectorization techniques have difficulties to tackle the large air traffic volumes, creating imbalanced sectors and uneven workload distribution among sectors. The purpose of this paper is to propose a new approach to find optimal airspace sectorization balancing the traffic controller workload between sectors, subject to airspace requirements.

A constraint programming (CP) model called equitable airspace sectorization problem (EQASP) relies on ordered weighted averaging (OWA) multiagent optimization and the parallel portfolio architecture has been developed, which integrates the equity into an existing CP approach (Trandac et al., 2005). The EQASP was evaluated and compared with the method of Trandac et al. (2005), according to the quality of workload balancing between sectors and the resolution performance. The comparison was achieved using real air traffic low-altitude network data sets of French airspace for five flight information regions for 24 h a day and the Algerian airspace for three various periods (off peak hours, peak hours and 24 h).

It has been demonstrated that the proposed EQASP model, which is based on OWA multicriteria optimization method, significantly improved both the solving performance and the workload equity between sectors, while offering strong theoretical properties of the balancing requirement. Interestingly, when solving hard instances, our parallel sectorization tool can provide, at any time, a workable solution, which satisfies all geometric constraints of sectorization.

This study can be used to design well-balanced air sectors in terms of workload between control units in the strategic phase. To fulfil the airspace users’ constraints, one can refer to this study to assess the capacity of each air sector (especially the overloaded sectors) and then adjust the sector’s shape to respond to the dynamic changes in traffic patterns.

This theoretical and practical approach enables the development and support of the definition of the “Air traffic management (ATM) Concept Target” through improvements in human factors specifically (balancing workload across sectors), which contributes to raising the level of capacity, safety and efficiency (SESAR Vision of ATM 2035).

In their approach, the authors proposed an OWA-based multiagent optimization model, ensuring the search for the best equitable solution, without requiring user-defined balancing constraints, which enforce each sector to have a workload between two user-defined bounds (W_min, W_max).