Cooperative Route Planning for Multiple Aircraft in a Semifree ATC System

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/mpe/volume-2018/3521905/figures/3521905.fig.0012a.svgz" name="3521905.fig.0012a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>3D view</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/mpe/volume-2018/3521905/figures/3521905.fig.0012b.svgz" name="3521905.fig.0012b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Horizontal view</td></tr></table>

<div>Sketch map of two 3D routes’ avoidance.</div>

Mathematical Problems in Engineering

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Figure 12

Figure 12: Cooperative Route Planning for Multiple Aircraft in a Semifree ATC System 