Path Planning and Real-Time Collision Avoidance Based on the Essential Visibility Graph by Luciano Blasi, Egidio D’Amato, Massimiliano Mattei, Immacolata Notaro

“…In view of possible future applications in hybrid scenarios where both manned and unmanned aircraft share the airspace, visual flight rules compliant with International Civil Aviation Organization (ICAO) Annex II Right of Way were implemented. …”
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