@article{BerZam23A,
  title = {Efficient Unmanned Aerial Systems Navigation With Collision Avoidance in Dense Urban Environments},
  journal = {IEEE Transactions on Intelligent Transportation Systems (T-ITS)},
  volume = {24},
  number = {8},
  year = {2023},
  month = aug,
  author = {Bertram, Joshua and Zambreno, Joseph and Wei, Peng}
}