# Safe path planning for UAV urban operation under GNSS signal occlusion risk

> Research article (Robotics and Autonomous Systems, 2021) · cited 30× · AI/ML

**Wikidata**: [openalex:W3159126237](https://www.wikidata.org/wiki/openalex:W3159126237)  
**Source**: https://4ort.xyz/entity/safe-path-planning-for-uav-urban-operation-under-gnss-signal-occlusion-risk