Open access
Jul 2026
Low-Altitude Multi-UAV Trajectory Planning in Dynamic Urban Environments Using Dynamic-Aware ACO and MPC-GWO
A hierarchical three-dimensional cooperative trajectory-planning framework integrating dynamic-risk-aware Ant Colony Optimization with cooperative Model Predictive Control–Gray Wolf Optimizer (MPC-GWO) is proposed, demonstrating satisfactory safety, coordination, adaptability, and real-time performance in small- to med...
Yuhan Wang, Pengfei Zhang, Ya-Wen Li et al.
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