UCAV Formation Online Collaborative Trajectory Planning Using hp Adaptive Pseudospectral Method

Table 1

Positions of the threats.

Threat number	Type	Position/km
Threat-1	Radar-A	(5,5)
Threat-2	SAM-A	(4,10)
Threat-3	Radar-B	(10,20)
Threat-4	Radar-B	(15,10)
Threat-5	SAM-B	(17,17)
Threat-6	SAM-B	(23,15)