Using MILP for UAVs Trajectory Optimization under Radar Detection Risk

This paper presents an approach to trajectories optimization for unmanned aerial vehicle (UAV) in presence of obstacles, waypoints, and threat zones such as radar detection regions, using mixed integer linear programming (MILP). The main result is the linear approximation of a nonlinear radar detection risk function with integer constraints and indicator 0-1 variables. Several results are presented to show that the approach can yields trajectories depending on the acceptable risk of detection.