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The EEA* deals with 3D environments, it is robust converging fast to the solution, it is energy efficient and it is real-time implementable and executable. In addition to the EEA*, a local path planner is also derived to cope with unknown dynamic threats within the working environment. The EEA* and the local path planner are first implemented and evaluated via simulated experiments using a fixed-wing UAV operating in mountain-like 3D environments, and in the presence of unknown dynamic obstacles. This is followed by evaluating a set up where three UAVs are commanded to follow their respective paths in a safe way. The energy efficiency of EEA* is also tested and compared with the conventional A* algorithm.<\/jats:p>","DOI":"10.1007\/s10846-022-01608-1","type":"journal-article","created":{"date-parts":[[2022,7,1]],"date-time":"2022-07-01T14:04:51Z","timestamp":1656684291000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":32,"title":["Fixed-Wing UAV Energy Efficient 3D Path Planning in Cluttered Environments"],"prefix":"10.1007","volume":"105","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7957-4653","authenticated-orcid":false,"given":"Giuseppe","family":"Aiello","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kimon P.","family":"Valavanis","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Alessandro","family":"Rizzo","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2022,7,1]]},"reference":[{"issue":"7426913, 22","key":"1608_CR1","doi-asserted-by":"publisher","first-page":"2016","DOI":"10.1155\/2016\/7426913","volume":"2016","author":"L Yang","year":"2016","unstructured":"Yang, L., Qi, J., Song, D., Xiao, J., Han, J., Xia, Y.: Survey of Robot 3D Path Planning Algorithms. 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