# Robust discrete-time super twisting formation protocol for a 6-DOF Quadcopter swarm

> Research article (ISA Transactions, 2023) · cited 13× · AI/ML

**Wikidata**: [openalex:W4387138577](https://www.wikidata.org/wiki/openalex:W4387138577)  
**Source**: https://4ort.xyz/entity/robust-discrete-time-super-twisting-formation-protocol-for-a-6-dof-quadcopter-swarm