# CTopPRM: Clustering Topological PRM for Planning Multiple Distinct Paths in 3D Environments

> Research article (IEEE Robotics and Automation Letters, 2023) · cited 20× · AI/ML

**Wikidata**: [openalex:W4386737223](https://www.wikidata.org/wiki/openalex:W4386737223)  
**Source**: https://4ort.xyz/entity/ctopprm-clustering-topological-prm-for-planning-multiple-distinct-paths-in-3d-environments