# Multi-constrained cooperative path planning of multiple drones for persistent surveillance in urban environments

> Research article (Complex & Intelligent Systems, 2021) · cited 43× · AI/ML

**Wikidata**: [openalex:W3129226220](https://www.wikidata.org/wiki/openalex:W3129226220)  
**Source**: https://4ort.xyz/entity/multi-constrained-cooperative-path-planning-of-multiple-drones-for-persistent-surveillance-in-urban-environments