Route planning of UAV cluster via periodic bilevel optimization
ZHAO Xuejun, DONG Yuhao, YUAN Xiujiu, BAO Zhuangzhuang, LI Jialin, LIANG Xiaolong
Science & Technology Review . 2019, (13): 53 -58 .  DOI: 10.3981/j.issn.1000-7857.2019.13.007

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