# Conflict-free four-dimensional path planning for urban air mobility considering airspace occupancy

> Research article (Aerospace Science and Technology, 2021) · cited 81× · AI/ML

**Wikidata**: [openalex:W3210600041](https://www.wikidata.org/wiki/openalex:W3210600041)  
**Source**: https://4ort.xyz/entity/conflict-free-four-dimensional-path-planning-for-urban-air-mobility-considering-airspace-occupancy