# MPC-based distributed formation control of multiple quadcopters with obstacle avoidance and connectivity maintenance

> Research article (Control Engineering Practice, 2022) · cited 60× · AI/ML

**Wikidata**: [openalex:W4205850238](https://www.wikidata.org/wiki/openalex:W4205850238)  
**Source**: https://4ort.xyz/entity/mpc-based-distributed-formation-control-of-multiple-quadcopters-with-obstacle-avoidance-and-connectivity-maintenance