Coordinated flight path planning for a fleet of missiles in high-risk areas

Abstract This paper addresses the flight path planning problem for multiple missiles engaging stationary targets in high-risk areas. Targets protected by air defence are preferably engaged a fleet or swarm of missiles, not individual missiles. The concept attack is that large number approaching overwhelm defence. deployment often part broader mission including further participants. Flight then an integral element planning, requiring strict timing coordination all members involved. times dictated master planning. We present algorithms offline and online re-planning paths with time constraints. based on advanced bidirectional RRT * algorithm generates risk-minimizing predefined times. Online sequentially, maintaining safety distance between to prevent mutual collision. Offline uses global optimization approach determine optimal selection from set potential paths. performed branch bound determines cliques compatibility graph. embedded iterative allows successively improve success.