Ruz Ortiz, José JaimeArévalo, OrlandoCruz García, Jesús Manuel de laPajares Martínsanz, Gonzalo2023-06-202023-06-202006978-0-7803-9758-3https://hdl.handle.net/20.500.14352/53313©2006 IEEE. IEEE International Conference on Emerging Technologies and Factory Automation (11th. sep 20-22, 2006 Praga, República Checa). This research was funded by the Community of Madrid, project COSICOLOGI S-0505/DPI-0391.This paper presents an approach to trajectories optimization for Unmanned Aerial Vehicle (UAV) in presence of obstacles, waypoints, and threat zones such as radar detection regions, using Mixed Integer Linear Programming (MILP). The main result is the linear approximation of a nonlinear radar detection risk function with integer constraints and indicator 0-1 variables. Several results are presented to show that the approach can yields trajectories depending on the acceptable risk of detection.engbook parthttp://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4178340&tag=1http://ieeexplore.ieee.org/open access004Automation and Control SystemsComputer ScienceArtificial IntelligenceTelecommunicationsInformática (Informática)1203.17 Informática