Wijaya, Ryan Satria, Hendawan Soebhakti, Rifqi Amalya Fatekha, and Sarah Anggraini. “Implementation of Real-Time Swarm Drone Formation Using Firebase and MIT App Inventor With Interpolation-Based Control in Gazebo”. Journal of Applied Informatics and Computing 10, no. 1 (February 4, 2026): 479–486. Accessed September 12, 2026. https://jurnal.polibatam.ac.id/index.php/JAIC/article/view/11767.