# Leader–follower decentralized optimal control for large population hexarotors with tilted propellers: A Stackelberg game approach

> Research article (Journal of the Franklin Institute, 2019) · cited 15× · AI/ML

**Wikidata**: [openalex:W2947091790](https://www.wikidata.org/wiki/openalex:W2947091790)  
**Source**: https://4ort.xyz/entity/leaderfollower-decentralized-optimal-control-for-large-population-hexarotors-with-tilted-propellers-a-stackelberg-game-a