# Decentralized MPC for UAVs Formation Deployment and Reconfiguration with Multiple Outgoing Agents

> Research article (Journal of Intelligent & Robotic Systems, 2019) · cited 20× · AI/ML

**Wikidata**: [openalex:W2940675882](https://www.wikidata.org/wiki/openalex:W2940675882)  
**Source**: https://4ort.xyz/entity/decentralized-mpc-for-uavs-formation-deployment-and-reconfiguration-with-multiple-outgoing-agents