# Collision-Free 4D Dynamic Path Planning for Multiple UAVs Based on Dynamic Priority RRT* and Artificial Potential Field

> Research article (Drones, 2023) · cited 18× · AI/ML

**Wikidata**: [openalex:W4323361456](https://www.wikidata.org/wiki/openalex:W4323361456)  
**Source**: https://4ort.xyz/entity/collision-free-4d-dynamic-path-planning-for-multiple-uavs-based-on-dynamic-priority-rrt-and-artificial-potential-field