This paper proposes a reusable minimum-time path algorithm for the solution to a special time-dependent network, directed acyclic network.

本文提出一种特殊最短路径算法，即在有向无环网络中最小时间路径算法的一种实现。

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This paper presents a twice planning approach to solving minimum-time trajectory planning problem for robotic manipulators. Pre-planning is performed on the specified path.

本文针对机器人最小时间轨迹规划问题提出了一种二次规划的优化方法。

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Then a cooperative planning model was established, which could plan a feasible path for each UAV, which meeted both the requirements of time-coordination and the minimum cost.

然后建立协同模型，为各无人机规划出既能满足时间协同要求，又能满足整体代价最优的可行航迹。

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Then a cooperative planning model was established, which could plan a feasible path for each UAV, which meeted both the requirements of time-coordination and the minimum cost.

然后建立协同模型，为各无人机规划出既能满足时间协同要求，又能满足整体代价最优的可行航迹。

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