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Toward Safe and Efficient Human–Swarm Collaboration: A Hier..:

Gong, Xin ; Wang, Tieniu ; Huang, Tingwen.
IEEE Transactions on Intelligent Vehicles.  8 (2023)  2 - p. 1664-1675 , 2023
Link: https://doi.org/10.1109/tiv.2022.3172342