For a more detailed explanation of algorithm, kindly refer to publication https://doi.org/10.1109/ICUAS57906.2023.10156492 (for open access: https://www.researchgate.net/publication/371878158_A_Modified_Artificial_Potential_Field_for_UAV_Collision_Avoidance?_tp=eyJjb250ZXh0Ijp7ImZpcnN0UGFnZSI6InByb2ZpbGUiLCJwYWdlIjoicHJvZmlsZSJ9fQ)
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