# Safe multi-agent drone control using control barrier functions and acceleration fields

> Research article (Robotics and Autonomous Systems, 2023) · cited 14× · AI/ML

**Wikidata**: [openalex:W4389688007](https://www.wikidata.org/wiki/openalex:W4389688007)  
**Source**: https://4ort.xyz/entity/safe-multi-agent-drone-control-using-control-barrier-functions-and-acceleration-fields