Survey of Cooperative Path Planning for Multiple UAVs

Cooperative path planning is one of the important research subjects on cooperative control for multiple UAVs.Firstly,problem formulation,mathematical models and solution frameworks are given.Secondly,several classes of environment representation methods for path planning are summarized.Lastly,several classes of path planning algorithms used in cooperative path planning for multiple UAVs are introduced respectively.Issues that should be paid attention to and their possible future directions are also put forward.