As a cutting-edge branch of unmanned aerial vehicle (UAV) technology, the cooperation of a group of UAVs has attracted increasing attention from both civil and military sectors, due to its remarkable merits in functionality and flexibility for accomplishing complex extensive tasks, e.g., search and rescue, fire-fighting, reconnaissance, and surveillance. Cooperative path planning (CPP) is a key problem for a UAV group in executing tasks collectively. In this paper, an attempt is made to perform a comprehensive review of the research on CPP for UAV groups. First, a generalized optimization framework of CPP problems is proposed from the viewpoint of three key elements, i.e., task, UAV group, and environment, as a basis for a comprehensive classification of different types of CPP problems. By following the proposed framework, a taxonomy for the classification of existing CPP problems is proposed to describe different kinds of CPPs in a unified way. Then, a review and a statistical analysis are presented based on the taxonomy, emphasizing the coordinative elements in the existing CPP research. In addition, a collection of challenging CPP problems are provided to highlight future research directions.

作为无人飞行器（UAV）技术的前沿分支，由于其在完成复杂的广泛任务方面的功能和灵活性方面的卓越优势，一批无人机的合作吸引了民用和军事领域的越来越多的关注。搜索和救援，消防，侦察和监视。协同路径规划（CPP）是无人机集团集体执行任务的关键问题。本文试图对无人机群体的CPP研究进行全面的回顾。首先，从任务，无人机群和环境三个关键要素的角度出发，提出了一个通用的CPP问题优化框架，作为对不同类型的CPP问题进行综合分类的基础。通过遵循提议的框架，提出了一种对现有CPP问题进行分类的分类法，以统一方式描述不同种类的CPP。然后，根据分类法进行了回顾和统计分析，强调了现有CPP研究中的协调要素。此外，还提供了一系列具有挑战性的CPP问题，以突出未来的研究方向。