Cooperative trajectory planning for UAV formation based onpath-speed decoupling
Honghai ZHANG, Xiaopeng QIAN, Xinwei WU, Hao LIU, Yu TIAN, Lichao WANG
Systems Engineering and Electronics . 2020, (9): 1976 -1987 .  DOI: 10.3969/j.issn.1001-506X.2020.09.13