# Swarm and Multi-agent Time-based A* Path Planning for Lighter-Than-Air Systems

> Research article (Unmanned Systems, 2020) · cited 26× · AI/ML

**Wikidata**: [openalex:W3012094855](https://www.wikidata.org/wiki/openalex:W3012094855)  
**Source**: https://4ort.xyz/entity/swarm-and-multi-agent-time-based-a-path-planning-for-lighter-than-air-systems