Online Path Generation and Navigation for Swarms of UAVs

Table 1

Terminology and notation.

Notation	Description
	Three-dimensional flying zone
	Wireless communication latency
	Distance between two consecutive UAVs
	Safe distance for the UAVs
	Swarm of drones
	Final or destination location of a UAV
	A location in
	Initial or start location of a UAV
	Set of moving obstacles
	Obstacle detection and processing time
	A UAV route
	Sensing range of the UAVs
	Maximum speed of the UAVs
	Set of static obstacles