Gen4jectory algorithm – 4-D trajectory planning with minimised flight time for multiple rotary-wing UAVs

The paper proposes an innovative Gen4jectory algorithm that allows planning multiple 4-D trajectories considering unique aircraft performance data of the uncrewed rotary-wing air traffic. The algorithm guarantees zero cases of Loss of Separation (LoS). We describe the physical model of drone (Unmanned Aerial Vehicle (UAV)) motion, map representation, pathfinding technique, 4-D trajectory planning, check of LoS, experimental setup and simulation results. Finally, we discuss the promising ways of further<br/>research.