# Real-time path planning of controllable UAV by subgoals using goal-conditioned reinforcement learning

> Research article (Applied Soft Computing, 2023) · cited 22× · AI/ML

**Wikidata**: [openalex:W4385335989](https://www.wikidata.org/wiki/openalex:W4385335989)  
**Source**: https://4ort.xyz/entity/real-time-path-planning-of-controllable-uav-by-subgoals-using-goal-conditioned-reinforcement-learning