MAS UAV swarm formation UAV–UGV aircraft parameter bic Book Industry Communication::T Technology, engineering, agriculture::TB Technology: general issues bic Book Industry Communication::T Technology, engineering, agriculture::TB Technology: general issues::TBX History of engineering & technology consistency theory cooperative engagement cooperative guidance cooperative penetration deep deterministic policy gradient distributed ad hoc network distributed control distributed swarm dynamic task planning dynamic-tracking-interceptor component event-trigger fixed-wing UAV flight control formation keeping formation obstacle avoidance hypersonic vehicle model prediction control multi-UAV multi-constraint cooperative guidance multi-missile cooperative control n/a neural network optimal control steady-state cruise