UAV formation path planning based on reachable envelope analysis of dynamic obstacle
Zeyang YIN, Hao LIANG, Yuxin LIAO, Xiaofang CHEN, Yongfang XIE
Systems Engineering and Electronics . 2025, (4): 1275 -1284 .  DOI: 10.12305/j.issn.1001-506X.2025.04.24