Trajectory Planning for Emergency Landing of VTOL Fixed-Wing Unmanned Aerial Vehicles

Table 1

Lower and upper state limits per trajectory phase.

State	The lower and upper state limits
	Starting (t0)	Intermediate (t)	Terminal (tf)
	[30, 30]	[0, 30]	[0, 0]
	[0, 0]
	[0, 0]
	[0, 0]
	[0, 0]
			[0, 0]