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Path planning for unmanned aerial vehicles using visibility line based methods

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Figure

Figure 1.1: Pathfinder UAV used for environmental research.
Figure 1.2: A UAV, RQ-1 predator is equipped with missiles
Fig. 1.1 for example, at present, can perform up to only level 3 of ACL.
Figure 2. 1: A circular vehicle is transformed into a point in C-space
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