TDO-MSF: A turn-deviation optimized multi-stage framework for smooth three-dimensional UAV trajectories. African Scientific Reports, [S. l.], v. 5, n. 2, p. 533, 2026. DOI: 10.46481/asr.2026.5.2.533. Disponível em: https://asr.nsps.org.ng/index.php/asr/article/view/533. Acesso em: 18 aug. 2026.