# An Improved RRT<sup>*</sup> UAV Formation Path Planning Algorithm Based on Goal Bias and Node Rejection Strategy

> Research article (Unmanned Systems, 2022) · cited 29× · AI/ML

**Wikidata**: [openalex:W4287959085](https://www.wikidata.org/wiki/openalex:W4287959085)  
**Source**: https://4ort.xyz/entity/an-improved-rrt-sup-sup-uav-formation-path-planning-algorithm-based-on-goal-bias-and-node-rejection-strategy