# Voronoi Boundary Visibility for Efficient Path Planning

> Research article (IEEE Access, 2020) · cited 21× · AI/ML

**Wikidata**: [openalex:W3044217012](https://www.wikidata.org/wiki/openalex:W3044217012)  
**Source**: https://4ort.xyz/entity/voronoi-boundary-visibility-for-efficient-path-planning