# Three-Stage Stackelberg Game Enabled Clustered Federated Learning in Heterogeneous UAV Swarms

> Research article (IEEE Transactions on Vehicular Technology, 2023) · cited 76× · AI/ML

**Wikidata**: [openalex:W4321608239](https://www.wikidata.org/wiki/openalex:W4321608239)  
**Source**: https://4ort.xyz/entity/three-stage-stackelberg-game-enabled-clustered-federated-learning-in-heterogeneous-uav-swarms