# Two-level structure swarm formation system with self-organized topology network

> Research article (Neurocomputing, 2019) · cited 21× · AI/ML

**Wikidata**: [openalex:W2995837688](https://www.wikidata.org/wiki/openalex:W2995837688)  
**Source**: https://4ort.xyz/entity/two-level-structure-swarm-formation-system-with-self-organized-topology-network