# Vision-Based Formation Control for an Outdoor UAV Swarm With Hierarchical Architecture

> Research article (IEEE Access, 2023) · cited 15× · AI/ML

**Wikidata**: [openalex:W4384787833](https://www.wikidata.org/wiki/openalex:W4384787833)  
**Source**: https://4ort.xyz/entity/vision-based-formation-control-for-an-outdoor-uav-swarm-with-hierarchical-architecture