# Real-time Autonomous UAV Formation Flight with Collision and Obstacle Avoidance in Unknown Environment

> Research article (Journal of Intelligent & Robotic Systems, 2016) · cited 63× · AI/ML

**Wikidata**: [openalex:W2301747656](https://www.wikidata.org/wiki/openalex:W2301747656)  
**Source**: https://4ort.xyz/entity/real-time-autonomous-uav-formation-flight-with-collision-and-obstacle-avoidance-in-unknown-environment