Application of virtual spring-based hp adaptive pseudospectral method in UAV formation trajectory planning
LI Xiang, LUO Wangchun, SHI Zhibin, ZHANG Xinghua, LIU Hongyi
Journal of Shenyang University of Technology . 2025, (5): 575 -583 .  DOI: 10.7688/j.issn.1000-1646.2025.05.04