# Trajectory Planning for Multiple UAVs and Hierarchical Collision Avoidance Based on Nonlinear Kalman Filters

> Research article (Drones, 2023) · cited 19× · AI/ML

**Wikidata**: [openalex:W4321377529](https://www.wikidata.org/wiki/openalex:W4321377529)  
**Source**: https://4ort.xyz/entity/trajectory-planning-for-multiple-uavs-and-hierarchical-collision-avoidance-based-on-nonlinear-kalman-filters