Cobano-Suárez, José-AntonioMartínez de Dios, J. R.Conde, RobertoSánchez Matamoros, José ManuelOllero, Aníbal2025-01-312025-01-312010-10-01Journal of Intelligent and Robotic Systems (2010) 60:133–15110.1007/s10846-010-9414-yhttps://hdl.handle.net/10433/23013This research was supported in part by the European Commission ICT Programme under project CONET Network of Excellence (FP7, INFSO-ICT-224053). Funding for experimentation was obtained from project “ROBAIR: Safety and Reliability in Aerial Robotics” funded by the Spanish R&D Plan (DPI2008-03847).This paper describes a method and experimental results of a flight planning method that takes into account uncertainties to determine a safe UAV trajectory. It uses particle filters to predict UAV trajectories taking into account the model of the UAV and of the atmospheric conditions and also considering uncertainties. A waypoint generation module computes intermediate waypoints in order to ensure that the trajectory achieves the required levels of safety (avoids forbidden zones) and mission achievement (passes through way-zones). The method has been applied to collection of data from wireless sensor network and has been validated in the airfield of Bollullos in the Spanish province of Seville.application/pdfenUAV planningWireless sensor networkParticle filterjournal articlerestricted access