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dubins airplane 1geometric tracking 1obstacle avoidance 1path planning 1quadrotor control 1reference smoothing 1

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20242026
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eess.SY2026

Simple Trajectory Smoothing for UAV Reference Path Planning Based on Decoupling, Spatial Modeling and Linear Programming

Mogens Plessen

A method for trajectory smoothing for UAV reference path planning is presented. It is derived based on the dynamics of a Dubins airplane model, and involves a decoupling step, spat…