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M. Novotarskyi

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Open access Aug 2026

A Multi-UAV Planning Framework for Task Allocation, Route Optimization and Trajectory Smoothing

A Multi-UAV Planning Framework for Task Allocation, Route Optimization and Trajectory Smoothing for static environments with known obstacle geometry is presented and results demonstrate that the proposed hierarchical formulation is computationally effective, physically consistent, and well suited to multi-UAV mission planning.

M. Nikolaiev, M. Novotarskyi · 0 citations