# Real-Time Path Planning for Multi-copters flying in UTM -TCL4

> Research article (AIAA Scitech 2019 Forum, 2019) · cited 28× · AI/ML

**Wikidata**: [openalex:W2909592002](https://www.wikidata.org/wiki/openalex:W2909592002)  
**Source**: https://4ort.xyz/entity/real-time-path-planning-for-multi-copters-flying-in-utm-tcl4