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Small Unmanned Aircraft by Timothy W. McLain, Randal W. Beard

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12

Path Planning

In the robotics literature, there are essentially two different approaches to motion planning: deliberative motion planning, where explicit paths and trajectories are computed based on global world knowledge [65, 66, 67], and reactive motion planning, which uses behavioral methods to react to local sensor information [68, 69]. In general, deliberative motion planning is useful when the environment is known a priori, but can become computationally intensive in highly dynamic environments. Reactive motion planning, on the other hand, is well suited for dynamic environments, particularly collision avoidance, where information is incomplete and uncertain, but it lacks the ability to specify and direct motion plans.

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