# Robust and Efficient Trajectory Planning for Formation Flight in Dense Environments

> Research article (IEEE Transactions on Robotics, 2023) · cited 59× · AI/ML

**Wikidata**: [openalex:W4385834002](https://www.wikidata.org/wiki/openalex:W4385834002)  
**Source**: https://4ort.xyz/entity/robust-and-efficient-trajectory-planning-for-formation-flight-in-dense-environments