# A Multi-UAV Formation Obstacle Avoidance Method Combined with Improved Simulated Annealing and an Adaptive Artificial Potential Field

> Research article (Drones, 2025) · cited 10× · AI/ML

**Wikidata**: [openalex:W4410597120](https://www.wikidata.org/wiki/openalex:W4410597120)  
**Source**: https://4ort.xyz/entity/a-multi-uav-formation-obstacle-avoidance-method-combined-with-improved-simulated-annealing-and-an-adaptive-artificial-po