# Enhanced Multi-UAV Path Planning in Complex Environments With Voronoi-Based Obstacle Modelling and Q-Learning

> Research article (International Journal of Aerospace Engineering, 2024) · cited 12× · AI/ML

**Wikidata**: [openalex:W4399100970](https://www.wikidata.org/wiki/openalex:W4399100970)  
**Source**: https://4ort.xyz/entity/enhanced-multi-uav-path-planning-in-complex-environments-with-voronoi-based-obstacle-modelling-and-q-learning