Text this: Swarm-based 4D path planning for drone operations in urban environments

 ______     ______  __    __    _____    __   _   
|      \\  /_   _// \ \\ / //  |  ___|| | || | || 
|  --  //   -| ||-   \ \/ //   | ||__   | '--' || 
|  --  \\   _| ||_    \  //    | ||__   | .--. || 
|______//  /_____//    \//     |_____|| |_|| |_|| 
`------`   `-----`      `      `-----`  `-`  `-`