  Safely integrating unmanned aerial vehicles into civil airspace is contingent
upon development of a trustworthy collision avoidance system. This paper
proposes an approach whereby a parameterized resolution logic that is
considered trusted for a given range of its parameters is adaptively tuned
online. Specifically, to address the potential conservatism of the resolution
logic with static parameters, we present a dynamic programming approach for
adapting the parameters dynamically based on the encounter state. We compute
the adaptation policy offline using a simulation-based approximate dynamic
programming method that accommodates the high dimensionality of the problem.
Numerical experiments show that this approach improves safety and operational
performance compared to the baseline resolution logic, while retaining
trustworthiness.
