# Hierarchical task-based formation control and collision avoidance of UAVs in finite time

> Research article (European Journal of Control, 2021) · cited 14× · AI/ML

**Wikidata**: [openalex:W3161430947](https://www.wikidata.org/wiki/openalex:W3161430947)  
**Source**: https://4ort.xyz/entity/hierarchical-task-based-formation-control-and-collision-avoidance-of-uavs-in-finite-time