# Bi-level Flight Path Planning of UAV Formations with Collision Avoidance

> Research article (Journal of Intelligent & Robotic Systems, 2018) · cited 55× · AI/ML

**Wikidata**: [openalex:W2800027611](https://www.wikidata.org/wiki/openalex:W2800027611)  
**Source**: https://4ort.xyz/entity/bi-level-flight-path-planning-of-uav-formations-with-collision-avoidance