Aircraft swarm improved velocity obstacle methods considering low carbon and deviation
Zhong Qingwei, Yu Yingxue, Liu Su, Wang Rui, Guo Jingwei, Pan Weijun
China Safety Science Journal . 2026, (4): 142 -151 .  DOI: 10.16265/j.cnki.issn1003-3033.2026.04.0144