中文摘要：

Liu Wei received his B.S. and M.S. degrees in system engineering from National University of Defense Technology in 2002 and 2004, respectively, and then became an assistant professor in the School of Science at the High-Tech Institute of Xi＇an, Xi＇an, China. He is now working towards his Ph.D. degree in guidance, navigation, and control at Beihang University. His current research interests are motion planning, flight task decision and optimization. Corresponding author at： School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China. Tel.： ＋86 10 82338767. E-mail addresses： everwl@gmail.com （W. Liu） Zheng Zheng is an associate professor and M.S. advisor in the School of Automation Science and Electrical Engineering at Bcihang University, Beijing, China. He received his Ph.D. degree from the Institute of Computing Technology at Chinese Academy of Sciences in 2006. His current research interests are flight task planning and software fault localization.E-mail addresses： zhengz@buaa.edu.cn （Z. Zheng） Cai Kaiyuan is a full professor and Ph.D. advisor in the School of Automation Science and Electrical Engineering at Beihang University, Beijing, China, where he received his Ph.D. degree in 1991. He is also a Cheung Kong Scholar （Chair Professor）, jointly appointed by the Ministry of Education of China and the Li Ka Shing Foundation of Hong Kong in 1999. His area of research includes software reliability and testing, autonomous flight control, and software cybernetics.E-mail addresses： kycai@buaa.edu.cn （K. Y. Cai）.