title: Cooperative Path Planning of Unmanned Aerial Vehicles
author:  Antonios Tsourdos 
description: An invaluable addition to the literature on UAV guidance andcooperative control, <i>Cooperative Path Planning of UnmannedAerial Vehicles</i> is a dedicated, practical guide tocomputational path planning for UAVs. One of the key issues facingfuture development of UAVs is path planning: it is vital that swarmUAVs/ MAVs can cooperate together in a coordinated manner, obeyinga pre-planned course but able to react to their environment bycommunicating and cooperating. An optimized path is necessary inorder to ensure a UAV completes its mission efficiently, safely,and successfully.
zlib_text: JOURNAL OF AEROSPACE COMPUTING, INFORMATION, AND COMMUNICATION 
  Vol. 1, December 2004 
   
  580 
  Real-Time Planning for Multiple Autonomous Vehicles in 
  Dynamic Uncertain Environments 
  Anawat Pongpunwattana* and Rolf Rysdyk † 
  University of Washington, Seattle, Washington, 98195-2400 
  This paper introduces a market-based cooperative planning system for a team of 
  autonomous vehicles operating in a dynamic environment. The system combines the 
  flexibility of evolution-computation techniques with the distributed nature of market 
  strategy to compute task and paths plans. Optimization is based on a team utility function 
  which accounts for uncertainty in knowledge of the environment. Multiple vehicles will 
  cooperate on the same task if doing so increases the predicted team utility value. The team 
  utility function and the associated stochastic model that predicts future system states are 
  described. The minimum required information exchange among the vehicles is identified. 
  Simulation resu