# SphereMap: Dynamic Multi-Layer Graph Structure for Rapid Safety-Aware UAV Planning

> Research article (IEEE Robotics and Automation Letters, 2022) · cited 22× · AI/ML

**Wikidata**: [openalex:W4292964992](https://www.wikidata.org/wiki/openalex:W4292964992)  
**Source**: https://4ort.xyz/entity/spheremap-dynamic-multi-layer-graph-structure-for-rapid-safety-aware-uav-planning