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Cited article:

New multi-UAV formation keeping method based on improved artificial potential field

Hanlin SHENG, Jie ZHANG, Zongyuan YAN, Bingxiong YIN, Shengyi LIU, Tingting Bai and Daobo WANG
Chinese Journal of Aeronautics 36 (11) 249 (2023)
https://doi.org/10.1016/j.cja.2023.07.030

A Four-Dimensional Space-Time Automatic Obstacle Avoidance Trajectory Planning Method for Multi-UAV Cooperative Formation Flight

Jie Zhang, Hanlin Sheng, Qian Chen, Han Zhou, Bingxiong Yin, Jiacheng Li and Mengmeng Li
Drones 6 (8) 192 (2022)
https://doi.org/10.3390/drones6080192

Onboard Distributed Trajectory Planning through Intelligent Search for Multi-UAV Cooperative Flight

Kunfeng Lu, Ruiguang Hu, Zheng Yao and Huixia Wang
Drones 7 (1) 16 (2022)
https://doi.org/10.3390/drones7010016

Study on border patrol task planning of heterogeneous UAVs group based on swarm intelligence

Nan Pan, Miaohan Zhang, Yuxuan Sun, et al.
Science Progress 104 (4_suppl) 003685042210947 (2021)
https://doi.org/10.1177/00368504221094722