Peng Li 0043 Yang Zhang 0161 Hongjiu Yang Yang Xu 0050 Cooperative formation control for four quadrotors in payload transportation with dynamic communication topology switching. 108263 2026 363 J. Frankl. Inst. 1 https://doi.org/10.1016/j.jfranklin.2025.108263 db/journals/jfi/jfi363.html#LiZYX26 streams/journals/jfi