# Reinforcement learning based two-level control framework of UAV swarm for cooperative persistent surveillance in an unknown urban area

> Research article (Aerospace Science and Technology, 2020) · cited 126× · AI/ML

**Wikidata**: [openalex:W2998573272](https://www.wikidata.org/wiki/openalex:W2998573272)  
**Source**: https://4ort.xyz/entity/reinforcement-learning-based-two-level-control-framework-of-uav-swarm-for-cooperative-persistent-surveillance-in-an-unkn