This paper describes a method for vehicles flying Trajectory Planning Problem in 3D environments. These requirements lead to non-convex constraints and difficult optimizations. It is shown that this problem can be rewritten as a linear program with mixed integer linear constraints that account for the collision avoidance used in model predictive control, running in real-time to incorporate feedback and compensate for uncertainty. An example is worked out in a real-time scheme, solved on-line to compensate for the effect of uncertainty as the maneuver progresses. In particular, we compare receding horizon control with arrival time approaches.
