A Non-Rigid Hierarchical Discrete Grid Structure and Its Application to UAVs Conflict Detection and Path Planning

Xiangyu Wu, Yi Lei, Xiaochong Tong, Yongsheng Zhang, He Li, Chunping Qiu, Congzhou Guo, Yuekun Sun, Guangling Lai. A Non-Rigid Hierarchical Discrete Grid Structure and Its Application to UAVs Conflict Detection and Path Planning. IEEE Trans. Aerospace and Electronic Systems, 58(6):5393-5411, 2022. [doi]

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