# Improved lazy theta∗ algorithm based on octree map for path planning of UAV

> Research article (Defence Technology, 2022) · cited 47× · AI/ML

**Wikidata**: [openalex:W4205355072](https://www.wikidata.org/wiki/openalex:W4205355072)  
**Source**: https://4ort.xyz/entity/improved-lazy-theta-algorithm-based-on-octree-map-for-path-planning-of-uav