Xibei Gongye Daxue Xuebao/Journal of Northwestern Polytechnical University

Hierarchical planning and control for multi-UAV cooperative encirclement in complex environments

Jing CHU, Ni ZHANG, Yong HUANG and Yumeng LIU

JNWPU, 44 2 (2026) 380-392

Published online: 12 June 2026

DOI: 10.1051/jnwpu/20264420380

Jing CHU

Ni ZHANG

Yong HUANG

Yumeng LIU

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