A Multi-constrained Trajectory Representation Framework for Predictable and Low Error UAV Missions

The rapid growth of Unmanned Aerial Vehicle (UAV) applications across various sectors has underscored the need for advanced trajectory planning methods that ensure safe and predictable UAV operations in increasingly regulated airspace, such as the European U-space. This paper presents a novel approa...

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Autores: Casado González, Rafael, Bermúdez Marín, Aurelio, Hernández Orallo, Enrique, Tavares Calafate, Carlos
Tipo de recurso: artículo
Fecha de publicación:2026
País:España
Institución:Fundación Dialnet. Universidad de La Rioja
Repositorio:RUIdeRA. Repositorio Institucional de la UCLM
OAI Identifier:oai:ruidera.uclm.es:10578/47943
Acceso en línea:https://doi.org/10.1007/s10846-026-02384-y
https://hdl.handle.net/10578/47943
Access Level:acceso abierto
Palabra clave:Trajectory planning
Unmanned Aerial Vehicle
Unmanned Aircraft System Traffic Management
U-space
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spelling A Multi-constrained Trajectory Representation Framework for Predictable and Low Error UAV MissionsCasado González, RafaelBermúdez Marín, AurelioHernández Orallo, EnriqueTavares Calafate, CarlosTrajectory planningUnmanned Aerial VehicleUnmanned Aircraft System Traffic ManagementU-spaceThe rapid growth of Unmanned Aerial Vehicle (UAV) applications across various sectors has underscored the need for advanced trajectory planning methods that ensure safe and predictable UAV operations in increasingly regulated airspace, such as the European U-space. This paper presents a novel approach to UAV trajectory planning that incorporates multiple constraints on the flight path, allowing desired speed and acceleration parameters to be defined for specific waypoint positions and times. By enabling precise control over dynamic parameters at each waypoint, our solution ensures smoother and more reliable UAV trajectories, minimizing the risks of abrupt or unpredictable manoeuvres that typically result from waypoint sequences with sudden changes. Experimental results based on use cases with varying requirements demonstrate that our constrained trajectory planning approach indeed provides more predictable and efficient UAV navigation, thereby meeting U-space mandates for safe and coordinated air traffic management. Depending on the experiment, the proposal reduces the error in following the planned mission by 20% to 90%. In addition, a moderate reduction in flight time has been observed in all experiments, reaching up to 40%.Springer202620262026info:eu-repo/semantics/articleapplication/pdfapplication/pdfhttps://doi.org/10.1007/s10846-026-02384-yhttps://hdl.handle.net/10578/47943reponame:RUIdeRA. Repositorio Institucional de la UCLMinstname:Fundación Dialnet. Universidad de La RiojaInglésPID2021-123627OB-C52PID2024-158682OB-C32PLEC-2023-010348TSI-100122-2024-162025-GRIN-38312info:eu-repo/semantics/openAccessoai:ruidera.uclm.es:10578/479432026-05-27T07:36:41Z
dc.title.none.fl_str_mv A Multi-constrained Trajectory Representation Framework for Predictable and Low Error UAV Missions
title A Multi-constrained Trajectory Representation Framework for Predictable and Low Error UAV Missions
spellingShingle A Multi-constrained Trajectory Representation Framework for Predictable and Low Error UAV Missions
Casado González, Rafael
Trajectory planning
Unmanned Aerial Vehicle
Unmanned Aircraft System Traffic Management
U-space
title_short A Multi-constrained Trajectory Representation Framework for Predictable and Low Error UAV Missions
title_full A Multi-constrained Trajectory Representation Framework for Predictable and Low Error UAV Missions
title_fullStr A Multi-constrained Trajectory Representation Framework for Predictable and Low Error UAV Missions
title_full_unstemmed A Multi-constrained Trajectory Representation Framework for Predictable and Low Error UAV Missions
title_sort A Multi-constrained Trajectory Representation Framework for Predictable and Low Error UAV Missions
dc.creator.none.fl_str_mv Casado González, Rafael
Bermúdez Marín, Aurelio
Hernández Orallo, Enrique
Tavares Calafate, Carlos
author Casado González, Rafael
author_facet Casado González, Rafael
Bermúdez Marín, Aurelio
Hernández Orallo, Enrique
Tavares Calafate, Carlos
author_role author
author2 Bermúdez Marín, Aurelio
Hernández Orallo, Enrique
Tavares Calafate, Carlos
author2_role author
author
author
dc.subject.none.fl_str_mv Trajectory planning
Unmanned Aerial Vehicle
Unmanned Aircraft System Traffic Management
U-space
topic Trajectory planning
Unmanned Aerial Vehicle
Unmanned Aircraft System Traffic Management
U-space
description The rapid growth of Unmanned Aerial Vehicle (UAV) applications across various sectors has underscored the need for advanced trajectory planning methods that ensure safe and predictable UAV operations in increasingly regulated airspace, such as the European U-space. This paper presents a novel approach to UAV trajectory planning that incorporates multiple constraints on the flight path, allowing desired speed and acceleration parameters to be defined for specific waypoint positions and times. By enabling precise control over dynamic parameters at each waypoint, our solution ensures smoother and more reliable UAV trajectories, minimizing the risks of abrupt or unpredictable manoeuvres that typically result from waypoint sequences with sudden changes. Experimental results based on use cases with varying requirements demonstrate that our constrained trajectory planning approach indeed provides more predictable and efficient UAV navigation, thereby meeting U-space mandates for safe and coordinated air traffic management. Depending on the experiment, the proposal reduces the error in following the planned mission by 20% to 90%. In addition, a moderate reduction in flight time has been observed in all experiments, reaching up to 40%.
publishDate 2026
dc.date.none.fl_str_mv 2026
2026
2026
dc.type.none.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://doi.org/10.1007/s10846-026-02384-y
https://hdl.handle.net/10578/47943
url https://doi.org/10.1007/s10846-026-02384-y
https://hdl.handle.net/10578/47943
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv PID2021-123627OB-C52
PID2024-158682OB-C32
PLEC-2023-010348
TSI-100122-2024-16
2025-GRIN-38312
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Springer
publisher.none.fl_str_mv Springer
dc.source.none.fl_str_mv reponame:RUIdeRA. Repositorio Institucional de la UCLM
instname:Fundación Dialnet. Universidad de La Rioja
instname_str Fundación Dialnet. Universidad de La Rioja
reponame_str RUIdeRA. Repositorio Institucional de la UCLM
collection RUIdeRA. Repositorio Institucional de la UCLM
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15.811543

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