# Rolling Horizon Path Planning of an Autonomous System of UAVs for Persistent Cooperative Service: MILP Formulation and Efficient Heuristics

> Research article (Journal of Intelligent & Robotic Systems, 2015) · cited 58× · AI/ML

**Wikidata**: [openalex:W2167637024](https://www.wikidata.org/wiki/openalex:W2167637024)  
**Source**: https://4ort.xyz/entity/rolling-horizon-path-planning-of-an-autonomous-system-of-uavs-for-persistent-cooperative-service-milp-formulation-and-ef