We extend an existing Conflict detection and design Conflict Reslution approach for a multiple-UAV system offers a maneuver-based solution limited to changes in vertical position. The framework we adopt works under Random Waypoint Mobility model for multiple-UAVs in three-dimensional space, we extend it to generate both two- and three-dimensional movement. Initially each UAV will be launched at a random position in three-dimensional space. Once a UAV comes into conflict with another, it will make a vertical maneuver to modify its altitude and continue at two-dimensional plane. To maintain the aim of equal distribution of UAVs among separate altitude intervals, the vertical maneuvers in our proposed algorithm is available only in three-dimensional space.
The work is done under an old version of mixim framework, what i will need you to do is to merge the 2D and 3D mobility to operate at the same time under a condition if a conflict happened it will change its movement to 2D and chooses a new altitude position.