UAV Path Planning in 3-D Constrained Environments Based on Layered Essential Visibility Graphs

Luciano Blasi, Egidio D'Amato, Massimiliano Mattei, Immacolata Notaro. UAV Path Planning in 3-D Constrained Environments Based on Layered Essential Visibility Graphs. IEEE Trans. Aerospace and Electronic Systems, 59(3):2359-2375, June 2023. [doi]

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