Pengfei Zhang

Low-Altitude Multi-UAV Trajectory Planning in Dynamic Urban Environments Using Dynamic-Aware ACO and MPC-GWO

A hierarchical three-dimensional cooperative trajectory-planning framework integrating dynamic-risk-aware Ant Colony Optimization with cooperative Model Predictive Control–Gray Wolf Optimizer (MPC-GWO) is proposed, demonstrating satisfactory safety, coordination, adaptability, and real-time performance in small- to medium-scale simulated urban scenarios.