Abstract—This paper is an extension of the current planning methods used in UAV tactical decision-making areas. We propose a repetitive online optimization method with limited look-ahead intervals. A theoretical foundation is built and the condition of its applicability is given. Optimal solutions can be approached by iteration. The relationship of this method with other well-known control methods is described. Advantages and disadvantages are discussed with suggestions for possible remediation. Interesting examples are presented to demonstrate the strength of this method. Possible applications are suggested. U I
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