# Decentralized Nonlinear Model Predictive Control for 3D Formation of Multirotor Micro Aerial Vehicles with Relative Sensing and Estimation

> Research article (2019 International Symposium on Multi-Robot and Multi-Agent Systems (MRS), 2019) · cited 10× · AI/ML

**Wikidata**: [openalex:W2987391467](https://www.wikidata.org/wiki/openalex:W2987391467)  
**Source**: https://4ort.xyz/entity/decentralized-nonlinear-model-predictive-control-for-3d-formation-of-multirotor-micro-aerial-vehicles-with-relative-sens