# Flexible multi-UAV formation control via integrating deep reinforcement learning and affine transformations

> Research article (Aerospace Science and Technology, 2024) · cited 17× · AI/ML

**Wikidata**: [openalex:W4405045667](https://www.wikidata.org/wiki/openalex:W4405045667)  
**Source**: https://4ort.xyz/entity/flexible-multi-uav-formation-control-via-integrating-deep-reinforcement-learning-and-affine-transformations