# Optimal Trajectory-Planning of UAVs via B-Splines and Disjunctive Programming

arXiv: https://arxiv.org/abs/1807.02931 · HTML: https://mlsanity.com/paper/1807.02931/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 9 Jul 2018.

## Built on by (most cited first, 1 of 1)

- [DynFly: Dynamic-Aware Continuous Trajectory Generation for UAV Vision-Language Navigation in Urban Environments](https://mlsanity.com/paper/2606.31654/) (2026)

## Abstract (arXiv)

This paper investigates an efficient algorithm for trajectory planning problem of autonomous unmanned aerial vehicles which fly over three-dimensional terrains. The proposed algorithm combines convex optimization with disjunctive programming and receding horizon concept, which has many advantages, such as a high computational speed. Disjunctive programming is applied in order to relax the non-convex constraints of the problem. Moreover, the B-spline curves are employed to represent the trajectories which should be generated in the optimization process.