This paper presents a decentralized collision-free path calculation method for multiple UAVs (Unmanned Aerial Vehicles). The developed method, which is composed of force field algorithm for conflict reduction and quadratic programming for path optimization, can execute parallel path calculation. While conventional path calculation methods tend to require prohibitive computational time as the number of concerned aircraft increases, the computational time in the developed method is not so

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... e to the number of concerned aircraft. Results of numerical simulations are presented to demonstrate the reasonableness of resulting paths, the computational efficiency, and robustness of the developed method. ( 263 )