Discrete linear bilevel programming problem
Journal of Optimization Theory and Applications
Smooth local-path planning for autonomous vehicles
International Journal of Robotics Research
A Unified Approach to Path Problems
Journal of the ACM (JACM)
Planning Algorithms
Real-time path planning with limited information for autonomous unmanned air vehicles
Automatica (Journal of IFAC)
Rule sets based bilevel decision model and algorithm
Expert Systems with Applications: An International Journal
Where do we go now?: anytime algorithms for path planning
Proceedings of the 4th International Conference on Foundations of Digital Games
Multiple UAV path planning using anytime algorithms
ACC'09 Proceedings of the 2009 conference on American Control Conference
Multi-UAV convoy protection: an optimal approach to path planning and coordination
IEEE Transactions on Robotics
A feedback based CRI approach to fuzzy reasoning
Applied Soft Computing
Sample-based motion planning in high-dimensional and differentially-constrained systems
Sample-based motion planning in high-dimensional and differentially-constrained systems
Limited-Damage A*: A path search algorithm that considers damage as a feasibility criterion
Knowledge-Based Systems
Sampling-based algorithms for optimal motion planning
International Journal of Robotics Research
Chance-Constrained Optimal Path Planning With Obstacles
IEEE Transactions on Robotics
Robot Motion Planning in Dynamic, Uncertain Environments
IEEE Transactions on Robotics
A new decision-making method by incomplete preferences based on evidence distance
Knowledge-Based Systems
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This paper presents a novel real-time path planning approach for unmanned aerial vehicles (UAVs) based on bi-level programming (BLP), in which the planning problem is described as a leader-follower decision making model. The proposed approach can fulfill an integrated path planning requirement, including several realistic abilities of convergence to target, obstacle avoidance, path length optimization, flight path smoothing and adaptability to the changes of the UAV's kinematic and sensory properties. In the BLP model, opposition obstacles and UAV's interrelated performances are described to construct path searching constraints, and variable planning time intervals are introduced to generate navigable flight paths only when necessary. A discretization solution algorithm embedded with five heuristic optimization strategies is particularly designed to speed up the planning. Moreover, convergence and computational cost, as well as potential extensions, are discussed to expose the efficiency and applicability of the approach. Numerous simulations in stochastic and representative scenarios demonstrate not only the effectiveness of the approach in generating optimized flight paths for UAVs, but also its clear advantages through comparisons with four typical methods, while synthetically considering the crucial abilities.