# Cooperative Path Planning of UAVs & UGVs for a Persistent Surveillance Task in Urban Environments

> Research article (IEEE Internet of Things Journal, 2020) · cited 150× · AI/ML

**Wikidata**: [openalex:W3094093649](https://www.wikidata.org/wiki/openalex:W3094093649)  
**Source**: https://4ort.xyz/entity/cooperative-path-planning-of-uavs-amp-ugvs-for-a-persistent-surveillance-task-in-urban-environments