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has been cited by the following article:

• TITLE: Contour Based Path Planning with B-Spline Trajectory Generation for Unmanned Aerial Vehicles (UAVs) over Hostile Terrain

  AUTHORS: Ee-May Kan, Meng-Hiot Lim, Swee-Ping Yeo, Jiun-Sien Ho, Zhenhai Shao

  KEYWORDS: Unmanned Aerial Vehicles (UAVs), Radar, Path Planning, B-Splines

  JOURNAL NAME: Journal of Intelligent Learning Systems and Applications, Vol.3 No.3, August 10, 2011

  ABSTRACT: This research focuses on trajectory generation algorithms that take into account the stealthiness of autonomous UAVs; generating stealthy paths through a region laden with enemy radars. The algorithm is employed to estimate the risk cost of the navigational space and generate an optimized path based on the user-specified threshold altitude value. Thus the generated path is represented with a set of low-radar risk waypoints being the coordinates of its control points. The radar-aware path planner is then approximated using cubic B-splines by considering the least radar risk to the destination. Simulated results are presented, illustrating the potential benefits of such algorithms.