# Differential Flatness-Based Real-Time Trajectory Planning for Multihelicopter Cooperative Transportation in Crowded Environments

> Research article (AIAA Journal, 2023) · cited 12× · AI/ML

**Wikidata**: [openalex:W4385422652](https://www.wikidata.org/wiki/openalex:W4385422652)  
**Source**: https://4ort.xyz/entity/differential-flatness-based-real-time-trajectory-planning-for-multihelicopter-cooperative-transportation-in-crowded-envi