When I run my code，a cvx showed the status is failed (other cvx is solved),but i can got the result when the whole code ended.

And after running in the cvx, it shows:

the UAV1 trajectory 1

**Successive approximation method to be employed.**

** For imoved efficiency, SDPT3 is solving the dual problem.

** SDPT3 will be called several times to refine the solution.**

** Original size: 15749 variables, 1331 equality constraints**

** 124 exponentials add 992 variables, 620 equality constraints**

**-----------------------------------------------------------------**

** Cones | Errors |**

**Mov/Act | Centering Exp cone Poly cone | Status**

**--------±--------------------------------±--------strong text
** 97/ 97 | 8.000e+00 6.123e+00 0.000e+00 | Unbounded
** 0/ 0 | 0.000e+00 0.000e+00 0.000e+00 | Failed**

** 0/ 0 | 0.000e+00 0.000e+00 0.000e+00 | Failed**

** 0/ 0 | 0.000e+00 0.000e+00 0.000e+00 | Failed**

**-----------------------------------------------------------------**

**Status: Failed**

**Optimal value (cvx_optval): NaN**

And i change the value of N, it will be wrong in the whole cvx.

Thanks a lot!