Dynamic-robustness-oriented hierarchical task planning for UAV swarm based on improved pigeon-inspired optimization Yalan Peng Haibin Duan Ming Li Yanming Fan Aug 2026 · Science China Technological Sciences · Vol 69 · 0 citations · 46 references DOI Semantic Scholar Save View source Cite Copy APA Copied ✓ Copy MLA Copied ✓ Copy BibTeX Copied ✓ Share