# On Hierarchical Multi-UAV Dubins Traveling Salesman Problem Paths in a Complex Obstacle Environment

> Research article (IEEE Transactions on Cybernetics, 2023) · cited 69× · AI/ML

**Wikidata**: [openalex:W4367048065](https://www.wikidata.org/wiki/openalex:W4367048065)  
**Source**: https://4ort.xyz/entity/on-hierarchical-multi-uav-dubins-traveling-salesman-problem-paths-in-a-complex-obstacle-environment