Aircraft swarm improved velocity obstacle methods considering low carbon and deviation
1School of Air Traffic Management, Civil Aviation Flight University of China, Guanghan Sichuan 618307, China
2Key Laboratory of Flight Techniques and Flight Safety, Civil Aviation Flight University of China, Guanghan Sichuan, 618307, China
3School of Electromechanical Engineering, Guangzhou City Construction College, Guangzhou Guangdong 510925, China
4Faculty of Business, City University of Macau, Macau 999078, China
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