Ruz Ortiz, José JaimeArévalo, OrlandoPajares Martínsanz, GonzaloCruz García, Jesús Manuel de la2023-06-202023-06-202007978-1-4244-0826-910.1016/j.patcog.2006.04.003https://hdl.handle.net/20.500.14352/53300© 2007 IEEE. This research was funded by the Community of Madrid, project “COSICOLOGI” S-0505/DPI-0391, by the Spanish Ministry of Education and Science, project “Planning, simulation and control for cooperation of multiple UAVs and MAVs” DPI2006-15661-C02-01, and by EADS (CASA), project 353/2005. IEEE International Conference on Emerging Technologies and Factory Automation (12th. Sep 25-28, 2007. Patras, Grecia)This paper presents an approach to trajectory generation for Unmanned Aerial Vehicles (UAV)) by using Mixed Integer Linear Programming (MILP) and a modification of the A* algorithm to optimize paths in dynamic environments, particularly having pop-ups with a known future probability of appearance. Each pop-up leads to one or several possible evasion maneuvers, characterised with a set Of values used as decision making parameters in an Integer Linear Programming (ILP) model that optimizes the final route by choosing the Most suitable alternative trajectories, according to the imposed constrains such as maximum fuel consumption and spent time. The model of the system in MILP and A* algorithms is presented as well as the ILP formulation for decision making. Results and discussions are given to promote future real tiem implementations.engbook parthttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4416892http://ieeexplore.ieee.orgopen access004Automation & Control SystemsEngineeringManufacturingInformática (Informática)1203.17 Informática