# A Cluster-Based Hierarchical-Approach for the Path Planning of Swarm

> Research article (Applied Sciences, 2021) · cited 23× · AI/ML

**Wikidata**: [openalex:W3184564050](https://www.wikidata.org/wiki/openalex:W3184564050)  
**Source**: https://4ort.xyz/entity/a-cluster-based-hierarchical-approach-for-the-path-planning-of-swarm