This is a matlab code for path planning a coverage mission using multiple UAVs. The concepts behind this algorithm are shown in the paper Multi-UAV Routing for Area Coverage and Remote Sensing with Minimum Time (PDF).

• Matlab - http://www.mathworks.com
• YALMIP - http://users.isy.liu.se/johanl/yalmip/pmwiki.php?n=Main.HomePage
• Gurobi - http://www.gurobi.com (Optional)