# An FTSA Trajectory Elliptical Homotopy for Unmanned Vehicles Path Planning With Multi-Objective Constraints

> Research article (IEEE Transactions on Intelligent Vehicles, 2023) · cited 28× · AI/ML

**Wikidata**: [openalex:W4316876987](https://www.wikidata.org/wiki/openalex:W4316876987)  
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