Paramahansa Yogananda, an Indian yogi and guru who introduced millions of westerners to the teachings of meditation and Kriya Yoga through his book, Autobiography of a Yogi, lived in the first half of the 20th Century. He wrote numerous books and I have loved him most of my life.
He speaks of multiple worlds:
“The universe is teeming with life. Even what people think of barren planets are manifestations of consciousness, and therefore are not really ‘dead.’ God’s consciousness is at the heart of every atom, ever seeking to express itself outwardly. All life gradually evolves toward outward expression. Materialistic science believes that life appears by accident, out of a mere combination of chemicals. Spiritual ‘science’ , however, discovered long ago that, at the heart of everything, dwells the infinite consciousness. “
Conversations with Yogananda by Swami Kriyananda