  Recently, there has been immense interest in using unmanned aerial vehicles
(UAVs) for civilian operations. As a result, unmanned aerial systems traffic
management is needed to ensure the safety and goal satisfaction of potentially
thousands of UAVs flying simultaneously. Currently, the analysis of large
multi-agent systems cannot tractably provide these guarantees if the agents'
set of maneuvers is unrestricted. In this paper, platoons of UAVs flying on air
highways is proposed to impose an airspace structure that allows for tractable
analysis. For the air highway placement problem, the fast marching method is
used to produce a sequence of air highways that minimizes the cost of flying
from an origin to any destination. The placement of air highways can be updated
in real-time to accommodate sudden airspace changes. Within platoons traveling
on air highways, each vehicle is modeled as a hybrid system. Using
Hamilton-Jacobi reachability, safety and goal satisfaction are guaranteed for
all mode transitions. For a single altitude range, the proposed approach
guarantees safety for one safety breach per vehicle, in the unlikely event of
multiple safety breaches, safety can be guaranteed over multiple altitude
ranges. We demonstrate the platooning concept through simulations of three
representative scenarios.
