# Decentralized aggregation and leader-following control of a swarm of quadcopters with nonlinear under-actuated dynamics

> Research article (Aerospace Science and Technology, 2020) · cited 16× · AI/ML

**Wikidata**: [openalex:W3096473056](https://www.wikidata.org/wiki/openalex:W3096473056)  
**Source**: https://4ort.xyz/entity/decentralized-aggregation-and-leader-following-control-of-a-swarm-of-quadcopters-with-nonlinear-under-actuated-dynamics