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A system that can fly off and touches down to execute particular tasks is a flying robot. Nowadays, these flying robots are capable of flying without human control and make decisions according to the situation with the help of onboard sensors and controllers. Among flying robots, Unmanned Aerial Vehicles (UAVs) are highly attractive and applicable for military and civilian purposes. These applications require motion planning of UAVs along with collision avoidance protocols to get betterdoi:10.3390/drones6050126 fatcat:gmays7nvtzfjpdlbc67jbn3hle