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Three-dimensional path planning for UAVs considering flight energy consumption: An approach based on improved elliptic tangent maps
Yajing ZHANG, Wei LÜ, Xiaoting YANG, Ting YANG, Mulin WANG, Di LI, Peng LEI
Journal of Tsinghua University(Science and Technology) . 2026, (2): 257 -267 .  DOI: 10.16511/j.cnki.qhdxxb.2025.22.039

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