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Sys."],"published-print":{"date-parts":[[2025,7]]},"abstract":"<jats:p> Multi-UAVs operations encounter significant challenges in conflict avoidance and dynamic path replanning, which are crucial for ensuring safety and mission efficiency. To address these challenges, we propose a novel approach using Mixed Integer Linear Programming (MILP) to optimize UAV flight paths through real-time control of speed and heading angles. Our method formulates conflict resolution as an optimal control problem, aiming to minimize adjustments while satisfying constraints such as minimum separation distances, speed limits, and heading angle limits. The MILP algorithm significantly enhances operational efficiency by reducing conflict-related delays and improving mission completion rates. The effectiveness and practicality of the proposed method are validated by integrating speed and heading angle controls, demonstrating enhanced operational efficiency and cost-effectiveness in complex UAV environments. <\/jats:p>","DOI":"10.1142\/s2301385025500645","type":"journal-article","created":{"date-parts":[[2024,8,11]],"date-time":"2024-08-11T03:43:36Z","timestamp":1723347816000},"page":"1041-1051","source":"Crossref","is-referenced-by-count":2,"title":["Enhanced Conflict Avoidance and Dynamic Path Replanning for Multi-UAVs through MILP with Real-Time Speed and Heading Angle Control"],"prefix":"10.1142","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5947-2585","authenticated-orcid":false,"given":"Xiaoqin","family":"Liu","sequence":"first","affiliation":[{"name":"Department of Control Science and Engineering, Tongji University, Shanghai 200092, P.\u00a0R.\u00a0China"},{"name":"Shanghai Research Institute for Intelligent Autonomous Systems, Tongji University, Shanghai 201210, P.\u00a0R.\u00a0China"},{"name":"National Key Laboratory of Autonomous Intelligent Unmanned Systems, Tongji University, Shanghai 201210, P.\u00a0R.\u00a0China"},{"name":"Frontiers Science Center for Intelligent Autonomous Systems, Ministry of Education, Shanghai 201210, P.\u00a0R.\u00a0China"},{"name":"Shanghai key Laboratory of Intelligent Autonomous Systems, Tongji University, Shanghai 200092, P.\u00a0R.\u00a0China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3193-6269","authenticated-orcid":false,"given":"Bin","family":"He","sequence":"additional","affiliation":[{"name":"Department of Control Science and Engineering, Tongji University, Shanghai 200092, P.\u00a0R.\u00a0China"},{"name":"Shanghai Research Institute for Intelligent Autonomous Systems, Tongji University, Shanghai 201210, P.\u00a0R.\u00a0China"},{"name":"National Key Laboratory of Autonomous Intelligent Unmanned Systems, Tongji University, Shanghai 201210, P.\u00a0R.\u00a0China"},{"name":"Frontiers Science Center for Intelligent Autonomous Systems, Ministry of Education, Shanghai 201210, P.\u00a0R.\u00a0China"},{"name":"Shanghai key Laboratory of Intelligent Autonomous Systems, Tongji University, Shanghai 200092, P.\u00a0R.\u00a0China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9259-6790","authenticated-orcid":false,"given":"Gang","family":"Xiao","sequence":"additional","affiliation":[{"name":"School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai 200240, P.\u00a0R.\u00a0China"}]}],"member":"219","published-online":{"date-parts":[[2024,9,10]]},"reference":[{"key":"S2301385025500645BIB001","doi-asserted-by":"publisher","DOI":"10.1142\/S2301385024500109"},{"key":"S2301385025500645BIB002","doi-asserted-by":"publisher","DOI":"10.1142\/S2301385023500140"},{"key":"S2301385025500645BIB003","doi-asserted-by":"publisher","DOI":"10.1142\/S2301385025500128"},{"key":"S2301385025500645BIB004","doi-asserted-by":"publisher","DOI":"10.1142\/S2301385022500170"},{"key":"S2301385025500645BIB005","doi-asserted-by":"crossref","first-page":"106285","DOI":"10.1016\/j.compag.2021.106285","volume":"187","author":"Wang J.","year":"2021","journal-title":"Comput. 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