1. Olfati-Saber, R.: Flocking for multi-agent dynamic systems: algorithms and theory. IEEE Trans. Autom. Control 51(3), 401–420 (2006)
2. Wang, J., Zhao, H., Bi, Y., Shiliang, S.: An improved fast flocking algorithm with obstacle avoidance for multi-agent dynamic systems. J. Appl. Math. 659805, 1–13 (2014)
3. Zhang, J., Yan, J., Zhang, P., Wang, B.: Study on the collision avoidance of UAV cooperative formation with improved artificial potential field. J. Xi’an Jiaotong Univ. 52(11), 112–119 (2018)
4. Feng, Y., Wu, Y., Cao, H., Sum, J.: UAV formation and obstacle avoidance based on improved artificial potential field. Fire Control Command Control 43(12) 116–120+125 (2018)
5. Yang, X.X., Zhang, Y., et al.: Dynamic artificial potential field application on UAV obstacle avoidance flight. Control Technol. Tactical Missile 31(1), 1–5 (2014)