The video contains an example of the two-phase motion planning for fixed-wing UAVs. The two-phase motion planning combines the global grid planning with the local runtime dynamic planning. From the 3D air slalom scenario the UAV is asked to pass through two gates in order.  The arrow on the gate indicate the gate direction. The solid boxes in light red are fixed and known obstacles which the global planner considers. A dotted line is a path found from the global grid planner. Two sets of spheres in light blue are unknown at the stage of global planning and can be detected when they come in the sensing area of the UAV. The local planner generates new obstacle-free paths when the global path coincides with new obstacles. The actual path the vehicle have taken on is drawn by a solid brown line.