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Applied Sciences
Volume 15
Issue 24
10.3390/app152413283
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This is an early access version, the complete PDF, HTML, and XML versions will be available soon.
Article

Switching-Based Cooperative Avoidance Control for Multi-Agent Quadrotor Dynamic Systems in Dense Environments

by
Wenxue Zhang
1,
Chunlei Zhao
1,
Dongliang Yang
1 and
Dušan M. Stipanović
2,*
1
School of Mechanical Engineering, Hebei University of Technology, Tianjin 300401, China
2
Coordinated Science Laboratory and the Department of Industrial and Enterprise Systems Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA
*
Author to whom correspondence should be addressed.
Appl. Sci. 2025, 15(24), 13283; https://doi.org/10.3390/app152413283
Submission received: 29 October 2025 / Revised: 13 December 2025 / Accepted: 16 December 2025 / Published: 18 December 2025
(This article belongs to the Special Issue Future Horizons in Multi-Agent Systems: Pioneering Trends and Breakthrough Innovations)
Versions Notes

Abstract

This paper presents a control framework for multi-unmanned aerial vehicle systems that achieves safe and cooperative navigation in complex environments through a unified collision avoidance and trajectory guidance strategy. The principal innovation lies in the incorporation of velocity information into the design of a switching function, enabling more accurate assessment of collision risk and effectively reducing system conservativeness. Building upon this, an adaptive trajectory guidance mechanism is developed using collision avoidance information to ensure safe motion coordination among the vehicles. In addition, a closed-form solution for the dynamic system is derived, and its safety and stability are rigorously established through Lyapunov-based analysis. The effectiveness of the proposed framework is validated through simulation studies conducted on the MATLAB/Simulink platform (version R2020b), confirming reliable cooperative navigation in densely cluttered environments and guaranteeing dynamic safety.
Keywords: unmanned aerial vehicle; switching function; adaptive trajectory; closed-form solution; dynamic safety unmanned aerial vehicle; switching function; adaptive trajectory; closed-form solution; dynamic safety

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MDPI and ACS Style

Zhang, W.; Zhao, C.; Yang, D.; Stipanović, D.M. Switching-Based Cooperative Avoidance Control for Multi-Agent Quadrotor Dynamic Systems in Dense Environments. Appl. Sci. 2025, 15, 13283. https://doi.org/10.3390/app152413283

AMA Style

Zhang W, Zhao C, Yang D, Stipanović DM. Switching-Based Cooperative Avoidance Control for Multi-Agent Quadrotor Dynamic Systems in Dense Environments. Applied Sciences. 2025; 15(24):13283. https://doi.org/10.3390/app152413283

Chicago/Turabian Style

Zhang, Wenxue, Chunlei Zhao, Dongliang Yang, and Dušan M. Stipanović. 2025. "Switching-Based Cooperative Avoidance Control for Multi-Agent Quadrotor Dynamic Systems in Dense Environments" Applied Sciences 15, no. 24: 13283. https://doi.org/10.3390/app152413283

APA Style

Zhang, W., Zhao, C., Yang, D., & Stipanović, D. M. (2025). Switching-Based Cooperative Avoidance Control for Multi-Agent Quadrotor Dynamic Systems in Dense Environments. Applied Sciences, 15(24), 13283. https://doi.org/10.3390/app152413283

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