# Hierarchical Multi-UAV Path Planning for Urban Low Altitude Environments

> Research article (IEEE Access, 2024) · cited 15× · AI/ML

**Wikidata**: [openalex:W4403598718](https://www.wikidata.org/wiki/openalex:W4403598718)  
**Source**: https://4ort.xyz/entity/hierarchical-multi-uav-path-planning-for-urban-low-altitude-environments