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Sharif Azadeh, S. (author), Bierlaire, M. (author), Maknoon, M.Y. (author)This paper presents a route optimization algorithm for light aircraft operating under visual flight rules. The problem aims at finding a minimum-duration, collision-free route in three spatial dimensions with possible aircraft maneuvers. The optimal route takes into account the aircraft kinodynamic characteristics and its interaction with...journal article 2019