# Consensus Control of Large-Scale UAV Swarm Based on Multi-Layer Graph

> Research article (Drones, 2022) · cited 15× · AI/ML

**Wikidata**: [openalex:W4311858229](https://www.wikidata.org/wiki/openalex:W4311858229)  
**Source**: https://4ort.xyz/entity/consensus-control-of-large-scale-uav-swarm-based-on-multi-layer-graph