[{"data":1,"prerenderedAt":-1},["ShallowReactive",2],{"doc-detail-81914-en":3,"doc-seo-81914-105":31,"detail-sidebar-cat-0-en-105":92},{"code":4,"msg":5,"data":6},0,"success",{"doc_id":7,"user_id":8,"nickname":9,"user_avatar":10,"doc_module":4,"category_id":11,"category_name":12,"doc_title":13,"doc_description":14,"doc_content":15,"file_id":16,"file_url":17,"file_type":18,"file_size":19,"view_count":20,"is_deleted":4,"is_public":21,"is_downloadable":21,"audit_status":21,"page_count":22,"language":23,"language_code":24,"site_id":25,"html_lang":24,"table_of_contents":26,"faqs":27,"seo_title":28,"seo_description":14,"update_tm":29,"read_time":30},81914,8796095462418,"Noah","https://ap-avatar.wpscdn.com/avatar/80000253c1241d02b47?x-image-process=image/resize,m_fixed,w_180,h_180&k=1778826106357471780",8,"Research & Report","Dynamic Airspace Management for UAVs in Evolving Urban Environments: Collaborative Coordination and Human Safety","The low-altitude economy is a fast-growing domain where safe unmanned aerial vehicle (UAV) operation is a key constraint, especially in dense urban settings with complex topology and human presence. The paper introduces Pharos, a collaborative multi-UAV airspace management system balancing distributed perception and centralized fine-grained control. Pharos enables safe parallel execution in shared airspace while modeling the impact of human fear. A 3D simulator using real urban data shows that Pharos reduces human fear by 52.72% versus Ipopt and improves space utilization by 70.82% and 2.03% versus Ipopt and A-star using spatial entropy.","Dynamic Airspace Management for UAVs in Evolving Urban Environments: Collaborative Coordination and Human Safety  \narXiv :2607 .04825v 1 [ cs .MA] 6 Jul 2026  \nLin Sun∗ Shanghai Jiao Tong University Shanghai, China [sun_lin@sjtu.edu.cn](sun_lin@sjtu.edu.cn)  \nHaopeng Chen† Shanghai Jiao Tong University Shanghai, China [chen-hp@sjtu.edu.cn](chen-hp@sjtu.edu.cn)  \nYuhang Wang∗ Shanghai Jiao Tong University Shanghai, China [lingbo_2022@sjtu.edu.cn](lingbo_2022@sjtu.edu.cn)  \nYan Jiao  \nShanghai Shapere Information Technology Co.,Ltd. Shanghai, China [jiaoyan2026@126.com](jiaoyan2026@126.com)  \nFan Meng Hong∗ Shanghai Jiao Tong University Shanghai, China [stevenhong@sjtu.edu.cn](stevenhong@sjtu.edu.cn)  \nYongming Xu  \nShanghai Shapere Information Technology Co.,Ltd. Shanghai, China [xuym2026@126.com](xuym2026@126.com)  \nAbstract  \nThe low-altitude economy is an emerging industry with significant development potential, in which the safety of unmanned aerial vehicle (UAV) operations is a critical challenge. Particularly within complex urban topographies and human-populated environments, UAV airspace management must prioritize collision avoidance and human safety. We propose Pharos, a collaborative multi-UAV airspace management system. Pharos lies between the distributed local perception paradigm and the centralized fine-grained control paradigm. Pharos coordinates the safe parallel execution of UAVs in shared airspace while innovatively accounting for the impact of human fear. Pharos is implemented using the MAPPO algorithm due to its faster convergence and higher rewards than other typical MARL algorithms (HAPPO and HATRPO) . To evaluate Pharos, we developed a 3D simulation system using real urban data. Visualization results demonstrate its effective airspace coordination capability. Regarding performance verification, Pharos reduced human fear by 52.72% compared to the benchmark Ipopt. Moreover, we designed spatial entropy as a system evaluation metric to quantify space utilization, which improved performance by 70.82% and 2.03% compared to the benchmarks Ipopt and A-star, respectively. The source code is available at an anonymized repository: [https:// github.com/pharos-anonymized/ source-code.git](https:// github.com/pharos-anonymized/ source-code.git).  \nCCS Concepts  \n• Computing methodologies → Cooperation and coordination; Multi-agent systems.  \nKeywords  \nAirspace management, UAV collaborative coordination, Exclusive space, Human safety, Spatial entropy  \n1 Introduction  \nDriven by the rapid evolution of unmanned aerial vehicles (UAVs), the low-altitude economy has emerged as a highly active domain in recent years [40]. Diverse UAV platforms are now increasingly integrated into daily operations, ranging from heavy-lift UAVs for long-haul logistics to lightweight UAVs for infrastructure inspection  \n∗ These authors contributed equally to this research.†Corresponding author.  \nFigure 1: Three airspace management paradigms: (a) Distributed local perception paradigm may lead to collisions of 􀀖,􀀗 at blind spots. (b) Centralized fine-grained control paradigm ensures safety for 􀀖 and 􀀗 via sequential instructions by timeline ①-②. (c) Pharos coordinates the exclusive spaces for 􀀖 and 􀀗 through coarse-grained global management to enable safe parallel passage.  \nand urban last-mile delivery. However, when multiple UAVs operate in parallel within a shared low-altitude space, their respective private operations are highly likely to conflict. When UAV flight zones overlap densely populated urban areas, the risk ofUAV collisionsand the threat to human safety they pose will increase significantly [26] . Consequently, establishing an airspace management system for UAVs to ensure safety at low altitudes is a pressing concern. This involves tackling two main challenges: exploring effective multi-UAV collaborative coordination solutions [5] and addressing human fears related to low-altitude flights [32] .  \nFirstly, human safety factors are c","cbCaipjOu2T9xB9a","https://ap.wps.com/l/cbCaipjOu2T9xB9a","pdf",4307787,4,1,11,"English","en",105,"# Introduction\n## Low-altitude economy and safety challenges\n## Human safety considerations in UAV airspace\n## Paradigms for multi-UAV collaborative coordination","[{\"question\":\"What core safety problem does the paper address in low-altitude urban environments?\",\"answer\":\"The paper focuses on avoiding UAV collisions and protecting human safety when multiple UAVs operate in parallel within shared, densely populated airspace.\"},{\"question\":\"How does Pharos position itself between two airspace management paradigms?\",\"answer\":\"Pharos is designed between distributed local perception and centralized fine-grained control, coordinating safe parallel UAV execution with coarse-grained global management.\"},{\"question\":\"What evaluation results demonstrate Pharos’ effectiveness?\",\"answer\":\"In a 3D simulation built from real urban data, Pharos reduces human fear by 52.72% compared to Ipopt and improves space utilization by 70.82% versus Ipopt and 2.03% versus A-star using spatial entropy.\"}]","Dynamic Airspace Management for UAVs in Evolving Urban Environments: Collaborative Coordination and Human Safety | 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core safety problem does the paper address in low-altitude urban environments?","Question",{"text":76,"@type":77},"The paper focuses on avoiding UAV collisions and protecting human safety when multiple UAVs operate in parallel within shared, densely populated airspace.","Answer",{"name":79,"@type":74,"acceptedAnswer":80},"How does Pharos position itself between two airspace management paradigms?",{"text":81,"@type":77},"Pharos is designed between distributed local perception and centralized fine-grained control, coordinating safe parallel UAV execution with coarse-grained global management.",{"name":83,"@type":74,"acceptedAnswer":84},"What evaluation results demonstrate Pharos’ effectiveness?",{"text":85,"@type":77},"In a 3D simulation built from real urban data, Pharos reduces human fear by 52.72% compared to Ipopt and improves space utilization by 70.82% versus Ipopt and 2.03% versus A-star using spatial 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