# Cooperative Relative Localization for UAV Swarm in GNSS-Denied Environment: A Coalition Formation Game Approach

> Research article (IEEE Internet of Things Journal, 2021) · cited 96× · AI/ML

**Wikidata**: [openalex:W3217169121](https://www.wikidata.org/wiki/openalex:W3217169121)  
**Source**: https://4ort.xyz/entity/cooperative-relative-localization-for-uav-swarm-in-gnss-denied-environment-a-coalition-formation-game-approach