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.0013a.svgz" name="3521905.fig.0013a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>3D route</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/mpe/volume-2018/3521905/figures/3521905.fig.0013b.svgz" name="3521905.fig.0013b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Horizontal route</td></tr></table>

<div>Sketch map of route replanning.</div>

Mathematical Problems in Engineering

fig13

Figure 13

Figure 13: Cooperative Route Planning for Multiple Aircraft in a Semifree ATC System 