@article{ThomaThomessenGardietal.2023,
  author    = {Andreas Thoma and Karolin Thomessen and Alessandro Gardi and A. Fisher and Carsten Braun},
  title     = {Prioritising paths: An improved cost function for local path planning for UAV in medical applications},
  journal   = {The Aeronautical Journal},
  number    = {First View},
  pages     = {1 -- 18},
  doi       = {10.1017/aer.2023.68},
  year      = {2023},
}