MILP and NLP Techniques for centralized trajectory planning of multiple unmanned air vehicles

Author(s):  
F. Borrelli ◽  
D. Subramanian ◽  
A.U. Raghunathan ◽  
L.T. Biegler
Author(s):  
S. Bras ◽  
J. F. Vasconcelos ◽  
C. Silvestre ◽  
P. Oliveira

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