Yu, J., H. Piao, Y. Hou, L. Mo, X. Yang, and D. Zhou. “DOMA: Deep Smooth Trajectory Generation Learning for Real-Time UAV Motion Planning”. Proceedings of the International Conference on Automated Planning and Scheduling, vol. 32, no. 1, June 2022, pp. 662-6, doi:10.1609/icaps.v32i1.19855.