# Multi-UAV Cooperative Task Planning for Border Patrol based on Hierarchical Optimization

> Research article (Journal of Imaging Science and Technology, 2021) · cited 20× · AI/ML

**Wikidata**: [openalex:W3176919723](https://www.wikidata.org/wiki/openalex:W3176919723)  
**Source**: https://4ort.xyz/entity/multi-uav-cooperative-task-planning-for-border-patrol-based-on-hierarchical-optimization