“…Another approach is to use human-guided conflict resolution similar to current air traffic management (ATM) for commercial manned flights over controlled airspace. 3), 4), 5), 6) The human effort required for such conflict resolution can be lessened by using emerging concepts such as sense and avoid. 7) Nevertheless, the human workload for conflict detection and avoidance tends to increase with number of aircraft, which limits the ability to scale such human-centered methods for a large number of UAVs.…”