Research Article
Multiaircraft Optimal 4D Trajectory Planning Using Logical Constraints
| | # aircraft | Final time (s) | Final mass (kg) |
| Without time constraint | 1 | 1539 | 64023 | 2 | 1419 | 64142 | 3 | 1350 | 64151 |
| With time constraint | 1 | 1750 | 64109 | 2 | 1550 | 64216 | 3 | 1350 | 64151 |
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