[7] [7] MUNA S I，MUKHERJEE S，NAMUDURI K，et al. Air corridors: concept，design，simulation，and rules of engagement［J］. Sensors，2021，21(22): 7536.

[8] [8] EL ASSLOUJ A，UPPALURU H，RAMEZANI M，et al. A fixed air corridor model for UAS traffic management in urban areas［J］. IEEE Transactions on Aerospace and Electronic Systems，2024，60(5): 5651-5662.

[10] [10] FIORINI P，SHILLER Z. Motion planning in dynamic environments using velocity obstacles［J］. The International Journal of Robotics Research，1998，17(7): 760-772.

[11] [11] BEST A，NARANG S，MANOCHA D. Real-time reciprocal collision avoidance with elliptical agents［C］//2016 IEEE International Conference on Robotics and Automation(ICRA). Stockholm: IEEE，2016: 298-305.

[12] [12] ADOUANE L，BENZERROUK A，MARTINET P. Mobile robot navigation in cluttered environment using reactive elliptic trajectories［J］. IFAC Proceedings Volumes，2011，44(1): 13801-13806.

[13] [13] LEE B H，JEON J D，OH J H. Velocity obstacle based local collision avoidance for a holonomic elliptic robot［J］. Autonomous Robots，2017，41: 1347-1363.

[14] [14] WANG G，LIU M Z，WANG F C，et al. A novel and elliptical lattice design of flocking control for multi-agent ground vehicles［J］. IEEE Control Systems Letters，2022，7: 1159-1164.

[20] [20] YAN Y，CHIRIKJIAN G S. Closed-form characterization of the Minkowski sum and difference of two ellipsoids［J］. Geometriae Dedicata，2015，177: 103-128.

[21] [21] VAN DEN B J，LIN M，MANOCHA D. Reciprocal velocity obstacles for real-time multi-agent navigation［C］//2008 IEEE International Conference on Robotics and Automation. Pasadena: IEEE，2008: 1928-1935.

[22] [22] VAN DEN B J，GUY S J，LIN M，et al. Reciprocaln-body collision avoidance［C］//Robotics Research: The 14th International Symposium (ISRR). Berlin: Springer Berlin Heidelberg，2011: 3-19.