# Energy Aware and Safe Path Planning for Unmanned Aircraft Systems

arXiv: https://arxiv.org/abs/2504.03271 · HTML: https://mlsanity.com/paper/2504.03271/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 4 Apr 2025.

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

- [UAVs Meet Agentic AI: A Multidomain Survey of Autonomous Aerial Intelligence and Agentic UAVs](https://mlsanity.com/paper/2506.08045/) (2025)

## Abstract (arXiv)

This paper proposes a path planning algorithm for multi-agent unmanned aircraft systems (UASs) to autonomously cover a search area, while considering obstacle avoidance, as well as the capabilities and energy consumption of the employed unmanned aerial vehicles. The path planning is optimized in terms of energy efficiency to prefer low energy-consuming maneuvers. In scenarios where a UAS is low on energy, it autonomously returns to its initial position for a safe landing, thus preventing potential battery damage. To accomplish this, an energy-aware multicopter model is integrated into a path planning algorithm based on model predictive control and mixed integer linear programming. Besides factoring in energy consumption, the planning is improved by dynamically defining feasible regions for each UAS to prevent obstacle corner-cutting or over-jumping.