Highlights: What are the main findings? A dual-objective MPC framework is developed for fixed-wing UAVs, simultaneously addressing longitudinal tracking and connectivity-aware trajectory optimization. The proposed MPC outperforms the benchmark LQR in both disturbance rejection and constraint handling under realistic flight conditions. What is the implication of the main finding? The framework enables UAVs to balance flight-time efficiency with reliable cellular connectivity, supporting communication-critical missions. The approach provides a foundation for real-time predictive control integration in 5G-assisted UAV systems. This paper presents a dual-objective Model Predictive Control (MPC) framework for fixed-wing unmanned aerial vehicles (UAVs). The framework was designed with two goals in mind: improving longitudinal motion control and optimizing the flight trajectory when connectivity and no-fly zone constraints are present. A multi-input–multi-output model derived from NASA’s Generic Transport Model (T-2) was used and linearized for controller design. We compared the MPC controller with a Linear Quadratic Regulator (LQR) in MATLAB simulations. The results showed that MPC reached the reference values faster, with less overshoot and phase error, particularly under sinusoidal reference inputs. These differences became even more evident when the UAV had to fly in windy conditions. Trajectory optimization was carried out using the CasADi framework, which allowed us to evaluate paths that balance two competing requirements: reaching the target quickly and maintaining cellular connectivity. We observed that changing the weights of the cost function had a strong influence on the trade-off between direct flight and reliable communication, especially when multiple base stations and no-fly zones were included. Although the study was limited to simulations at constant altitude, the results suggest that MPC can serve as a practical tool for UAV missions that demand both accurate flight control and robust connectivity. Future work will extend the framework to more complete models and experimental validation.

Efficient railway operations are essential to accommodate growing traffic demand and to sustain high levels of system performance on heavily utilized corridors. Conventional train scheduling methodologies often face challenges in preventing train path conflicts arising from deviations in planned trajectories or operational uncertainties. To address this, we developed a framework to automatically generate conflict-free Train Path Envelopes (TPEs) for successive scheduled trains from a real-time traffic plan in a designated railway corridor. Specifically, the TPE is defined as a sequence of time targets or windows at key network locations (known as timing points) and serves as train trajectory constraints in generating conflict-free train trajectories aligned with the real-time traffic plan. The computational framework processes infrastructure and timetable data autonomously, identifies potential track occupation conflicts using blocking time theory across three typical train driving strategies and resolves them through the automated determination of intermediate timing points and dynamic adjustment of departure tolerances. Buffer times are incorporated into the blocking time bounds to tolerate train trajectory tracking errors.Lastly, the framework computes the earliest and latest feasible trajectories for each train. From this the TPEs are derived as a list of timing points with their time windows or targets. This framework not only optimizes track utilization by ensuring conflict-free train operations but also promotes energy efficiency by defining flexible and robust time-distance boundaries for train movements. The efficacy of the proposed framework has been validated through integration with FRISO (Flexible Rail Infrastructure Simulation of Operations), a microscopic simulation tool with discrete, dynamic, stochastic and deterministic properties. This development marks a first step towards a better link between railway traffic management and automatic train operation and is a cornerstone in Europe's Rail FP1-MOTIONAL project.