# Collision free 4D path planning for multiple UAVs based on spatial refined voting mechanism and PSO approach

> Research article (Chinese Journal of Aeronautics, 2019) · cited 111× · AI/ML

**Wikidata**: [openalex:W2940508125](https://www.wikidata.org/wiki/openalex:W2940508125)  
**Source**: https://4ort.xyz/entity/collision-free-4d-path-planning-for-multiple-uavs-based-on-spatial-refined-voting-mechanism-and-pso-approach