# Efficient Lazy Theta* Path Planning over a Sparse Grid to Explore Large 3D Volumes with a Multirotor UAV

> Research article (Sensors, 2019) · cited 29× · AI/ML

**Wikidata**: [openalex:W2907813167](https://www.wikidata.org/wiki/openalex:W2907813167)  
**Source**: https://4ort.xyz/entity/efficient-lazy-theta-path-planning-over-a-sparse-grid-to-explore-large-3d-volumes-with-a-multirotor-uav