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    Unmanned aerial vehicle formation gathering method and device, computer equipment and storage medium
                                      
                                            WANG JIE,                              LIU JIA,                              SU XICHAO,                              AN SHU,                              WU LIYAO,                              LEE SANG-GU,                              SONG SHUCHENG,                              HAN WEI                              
Year of Publication 30.08.2022
                         
                                            
                   
      
      
                                                                                
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              Year of Publication 30.08.2022
              Patent
          
              
          Manned person/unmanned aerial vehicle co-fusion cluster formation control method based on cluster space framework
                                      
                                            HUO MENGZHEN,                              WU JIANG,                              ZHOU RUI,                              WEI CHEN,                              DENG YIMIN,                              DUAN HAIBIN,                              CHEN LIN                              
Year of Publication 06.05.2022
                         
                                            
                   
      
      
                                                                                
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              Year of Publication 06.05.2022
              Patent