Teng GuoSi Wei FengJingjin YuPolynomial Time Near-Time-Optimal Multi-Robot Path Planning in Three Dimensions with Applications to Large-Scale UAV Coordination.10074-100802022IROShttps://doi.org/10.1109/IROS47612.2022.9982231conf/iros/2022db/conf/iros/iros2022.html#GuoFY22