Francesco Borrelli, Dharmashankar Subramanian, Arvind U. Raghunathan, Lorenz T. Biegler. MILP and NLP Techniques for centralized trajectory planning of multiple unmanned air vehicles. In American Control Conference, ACC 2006, Minneapolis, MN, USA, 14-16 June, 2006. pages 1-6, IEEE, 2006. [doi]
Abstract is missing.