For citations:
Frolov O.V., Safin R.N., Tsoy T.G., Martinez-Garcia E.A., Magid E.A. Formation control of unmanned aerial vehicle swarms for outdoor monitoring in search and rescue tasks. Uchenye Zapiski Kazanskogo Universiteta. Seriya Fiziko-Matematicheskie Nauki. 2025;167(4):786-805. https://doi.org/10.26907/2541-7746.2025.4.786-805
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