# Highly reliable relative navigation for multi-UAV formation flight in urban environments

> Research article (Chinese Journal of Aeronautics, 2020) · cited 47× · AI/ML

**Wikidata**: [openalex:W3034873675](https://www.wikidata.org/wiki/openalex:W3034873675)  
**Source**: https://4ort.xyz/entity/highly-reliable-relative-navigation-for-multi-uav-formation-flight-in-urban-environments