# A Hierarchical Path Planning Approach with Multi-SARSA Based on Topological Map

> Research article (Sensors, 2022) · cited 27× · AI/ML

**Wikidata**: [openalex:W4220669546](https://www.wikidata.org/wiki/openalex:W4220669546)  
**Source**: https://4ort.xyz/entity/a-hierarchical-path-planning-approach-with-multi-sarsa-based-on-topological-map