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Title:          Collision Avoidance Method for Self-Organizing Unmanned Aerial Vehicle Flights
Subject:        IEEE Access;2019;7; ;10.1109/ACCESS.2019.2925633
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      Title: INTRODUCTION
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      Title: TRADITIONAL REYNOLDS FLOCKING MODEL
     Item: 
      Title: OPTIMIZED FLOCKING MODEL WITH COLLISION AVOIDANCE
      Children: 
       Item: 
        Title: OPTIMIZED FLOCKING MODEL
        Children: 
         Item: 
          Title: REPULSION
         Item: 
          Title: VELOCITY ALIGNMENT
         Item: 
          Title: FLOCK CENTERING
         Item: 
          Title: FLIGHT TARGET POSITION
         Item: 
          Title: FINAL COMBINED FORCE FORMULAE
       Item: 
        Title: FLOCKING OPTIMIZATION ALGORITHM
        Children: 
         Item: 
          Title: FLIGHT EFFECT EVALUATION FUNCTION
       Item: 
        Title: COLLISION AVOIDANCE BETWEEN SWARMS OF UAVs
     Item: 
      Title: SIMULATION AND RESULTS
      Children: 
       Item: 
        Title: UAVs IN A SWARM FLYING TOWARD EACH OTHER
       Item: 
        Title: UAV SWARM FLIGHT SCENARIO THAT MIGHT CAUSE A DOMINO EFFECT
       Item: 
        Title: UAV SWARM VERTICAL CROSS FLIGHT
       Item: 
        Title: THREE DIFFERENT DIRECTIONS OF UAV SWARM GATHERING SCENE
       Item: 
        Title: SIMULATION ANALYSIS AND COMPARISON OF VARIOUS SCENARIOS
     Item: 
      Title: CONCLUSION AND FUTURE WORK
     Item: 
      Title: REFERENCES
     Item: 
      Title: Biographies
      Children: 
       Item: 
        Title: YANG HUANG
       Item: 
        Title: JUN TANG
       Item: 
        Title: SONGYANG LAO
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