@article{SadeghzadehNokhodberiz20240104,
  title   = {Distributed safe formation tracking control of multiquadcopter systems using barrier Lyapunov function},
  author  = {Nargess Sadeghzadeh-Nokhodberiz, Mohammad Reza Sadeghi, Rohollah Barzamini, Allahyar Montazeri},
  journal = {Frontiers in Robotics and AI (vol. 11)},
  year    = {2024},
  doi     = {10.3389/frobt.2024.1370104}
}