# Multi-UAV WRSN charging path planning based on improved heed and IA-DRL

> Research article (Computer Communications, 2023) · cited 28× · AI/ML

**Wikidata**: [openalex:W4323871372](https://www.wikidata.org/wiki/openalex:W4323871372)  
**Source**: https://4ort.xyz/entity/multi-uav-wrsn-charging-path-planning-based-on-improved-heed-and-ia-drl