Integrating spatio-temporal hash in three-dimensional RRT* multi-formation route planning
Kaiwen ZHENG, Chengze DU, Xingfang ZHAO, Xiaofan PANG
Systems Engineering and Electronics . 2025, (7): 2256 -2266 .  DOI: 10.12305/j.issn.1001-506X.2025.07.19