# A multi-unmanned aerial vehicle fast path-planning method based on non-rigid hierarchical discrete grid voxel environment modeling

> Research article (International Journal of Applied Earth Observation and Geoinformation, 2022) · cited 16× · AI/ML

**Wikidata**: [openalex:W4313215615](https://www.wikidata.org/wiki/openalex:W4313215615)  
**Source**: https://4ort.xyz/entity/a-multi-unmanned-aerial-vehicle-fast-path-planning-method-based-on-non-rigid-hierarchical-discrete-grid-voxel-environmen