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Unmanning UAVs: Addressing challenges in on board planning and decision making

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Figure

Fig. 1. Standard flight profile [4]
Fig. 2. Rasmussen’s 3 layer model [16] depicted as a data flow diagram for flight planning
Fig. 3. Example flight paths using A*, Fuzzy Dynamic Programming (FDP) with min t-norm, and with product t-norm
Fig. 4. Box and whiskers plots, showing inter-quartile range for incremental path costs, path length, and planning time
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