# Event-based obstacle avoidance control for time-varying UAV formation under cyber-attacks

> Research article (Journal of the Franklin Institute, 2024) · cited 12× · AI/ML

**Wikidata**: [openalex:W4400000876](https://www.wikidata.org/wiki/openalex:W4400000876)  
**Source**: https://4ort.xyz/entity/event-based-obstacle-avoidance-control-for-time-varying-uav-formation-under-cyber-attacks