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MILP and NLP Techniques for centralized trajectory planning of multiple unmanned air vehicles
2006
2006 American Control Conference
We consider the problem of optimal cooperative three-dimensional conflict resolution involving multiple Unmanned Air Vehicles (UAVs) using numerical trajectory optimization methods. The conflict problem is posed as an optimal control problem of finding trajectories that minimize a certain objective function while maintaining the safe separation between each UAV pair. We assume the origin and destination of the UAV are known and consider UAV models with simplified linear kinematics. The main
doi:10.1109/acc.2006.1657644
fatcat:u52qnzlvwbe55nhi5lr4tewofq