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Flocking collision avoidance for multi-UAVs in restricted scenarios: An event-triggered MAPPO strategy based on task-hierarchical curriculum

Chengqing Liang, Lei Liu 0008, Xiaodi Li 0001, Dongmei Yan, Lei Li. Flocking collision avoidance for multi-UAVs in restricted scenarios: An event-triggered MAPPO strategy based on task-hierarchical curriculum. Expert Syst. Appl., 306:130842, 2026. [doi]

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