The problem of vision-based fixed-wing UAV formation control under communication limitations and the presence of measurement errors was investigated. In the first part of this paper, the single UAV motion model and the process of estimating the neigh...
Cooperative formation control is the research basis for various tasks in the multi-UAV network. However, in a complex environment with different interference sources and obstacles, it is difficult for multiple UAVs to maintain their connectivity whil...
This paper addresses the analysis and the deployment of the network infrastructure based on multiple Unmanned Air Vehicles (UAVs). Despite the unprecedented potential to the mobility of the network infrastructure, there has been no effort to establis...
To address the issues of local minima, target unreachability, and significant formation disruption during obstacle avoidance in the conventional artificial potential field (APF), a control approach that integrates APF with optimal consensus control w...
Unmanned Aerial Vehicles (UAVs) can cooperate through formations to perform tasks. Wireless communication allows UAVs to exchange information, but for the situations requiring high security, electromagnetic silence is needed to avoid potential threat...
This paper investigates the cooperative formation trajectory tracking problem for heterogeneous unmanned aerial vehicle (UAV) and multiple unmanned surface vessel (USV) systems with collision avoidance performance. Firstly, a formation control protoc...
This paper provides an in-depth analysis of the current research landscape in the field of UAV (Unmanned Aerial Vehicle) swarm formation control. This review examines both conventional control methods, including leader–follower, virtual structure, be...
Formation control plays a vital role in coordinating multi-agent systems and swarm robotics, enabling collaboration in applications such as autonomous vehicles, robotic swarms, and distributed sensing. This paper introduces the formation-control prob...
Recent developments in unmanned aerial vehicles (UAVs) have led to the introduction of a wide variety of innovative applications, especially in the Mobile Edge Computing (MEC) field. UAV swarms are suggested as a promising solution to cope with the i...
Aiming at the nonlinear and multiple disturbances in the multi-quadcopter UAV system, this paper proposes a leader–follower composite formation control strategy based on an improved super-twisted sliding mode controller (ISTSMC) and a finite-ti...
This paper designs a robust close-formation control system with dynamic estimation and compensation to advance unmanned aerial vehicle (UAV) close-formation flights to an engineer-implementation level. To characterize the wake vortex effect and analy...
UAV formation navigation in complex environments such as narrow tunnels faces multiple challenges, including obstacle avoidance, formation maintenance, and communication constraints. This paper proposes a cooperative obstacle avoidance strategy for U...
This paper addresses the challenges of cooperative formation control and prescribed-time tracking for networked quadrotor UAVs under speed and input saturation constraints. A hierarchical control framework including position formation layer and attit...
This paper investigates the cooperative formation trajectory tracking problem for heterogeneous unmanned aerial vehicle (UAV) and multiple unmanned surface vessel (USV) systems with input quantization performance. Firstly, at the kinematic level, a d...
The paper is devoted to the problem of the decentralized control of unmanned aerial vehicle (UAV) formation in the case of parametric uncertainty. A new version of the feedback linearization approach is proposed and used for a point mass UAV model tr...
Cooperative group formation control of manned/unmanned aircraft vehicles (MAV/UAVs) using a hierarchical framework can be more efficient and flexible than centralized control strategies. In this paper, a two-level hierarchical-interaction-based coope...
This paper utilizes the distributed model predictive control (DMPC) method to investigate the formation control problem of unmanned aerial vehicles (UAVs) in the obstacle environment and establishes cooperative capability evaluation metrics of the sw...
Unmanned aerial vehicle (UAV) formation flying is an efficient and economical operation mode for air transportation systems. To improve the effectiveness of synergetic formation control for UAVs, this paper proposes a pairwise conflict resolution app...
This paper focuses on the safety-critical fixed-time formation control of quadrotor UAVs with disturbance and obstacle collision risk. The control scheme is organized in a distributed manner, with the leader’s position and velocity being estima...
UAV technology is advancing rapidly, and variable-sweep wing UAVs are increasingly valuable because they can adapt to different flight conditions. However, conventional control methods often struggle with managing continuous action spaces and respond...
The cooperative flight of manned and unmanned aerial vehicles (MAV/UAVs) has recently become a focus in the research of civilian and humanitarian fields, in which formation control is crucial. This paper takes the improvement of convergence performan...
This article addresses the leader-follower formation maneuver control problem of multiple unmanned aerial vehicles (UAVs), taking into account the time-varying velocity and time-varying relative bearing. An event-triggered bearing-based distributed v...
This paper addresses a novel spherical formation tracking control problem of multiple UAVs with time-varying delays in the directed communication network, where the dynamics of each UAV is non-holonomic and in the presence of spatiotemporal flowfield...
This article presents the design and implementation of an event-triggered control approach, applied to the leader-following consensus and formation of a group of autonomous micro-aircraft with capabilities of vertical take-off and landing (VTOL-UAVs)...
This paper proposes a hybrid intelligent agent controller (HIAC) for manned aerial vehicles (MAV)/unmanned aerial vehicles (UAV) formation under the leader–follower control strategy. Based on the high-fidelity three-degrees-of-freedom (DOF) dyn...
Formation path planning is a significant cornerstone for unmanned aerial vehicle (UAV) swarm intelligence. Previous methods were not suitable for large-scale UAV formation, which suffered from poor formation maintenance and low planning efficiency. T...
Situational awareness formation is one of the most critical elements in solving the problem of UAV behavior control. It aims to provide information support for UAV behavior control according to its objectives and tasks to be completed. We consider th...
Unmanned Aerial Vehicles (UAVs) are known to have limited payloads, which challenges their widespread use in transporting heavy goods. Meanwhile, collaboration between multiple UAVs in performing such a task may be a promising solution. To address th...
To enable safe cooperative flight of multi-UAV formations in urban 3-D airspace with wind-field disturbances, we develop an integrated planning-control framework.The planning layer uses an APF-guided RRT* with continuous collision prediction and expl...
This paper investigates the time-varying formation-tracking (TVFT) problem for multi-UAV systems (MUSs), where the followers need to achieve a predefined time-varying formation configuration while tracking the leader’s state. In order to reduce...
This paper investigates the bearing-only formation control problem of a heterogeneous multi-vehicle system, which includes unmanned aerial vehicles (UAVs) and unmanned surface vehicles (UWSVs). The interactions among vehicles are described by a parti...
In response to safety concerns pertaining to multi-UAV formation flights, a novel obstacle avoidance method based on an Improved Adaptive Artificial Potential field (IAAPF) is presented. This approach enhances UAV obstacle avoidance capabilities by u...
In this paper, we present a decentralized unmanned aerial vehicle (UAV) swarm formation control approach based on a decision theoretic approach. Specifically, we pose the UAV swarm motion control problem as a decentralized Markov decision process (De...
UAV formation keeping is an important research element due to its cooperative formation control. This study proposes a passive positioning model for UAVs based on the Monte Carlo strategy and provides a trajectory programming decision scheme based on...
Multiple unmanned aerial vehicles (UAVs) have a greater potential to be widely used in UAV-assisted IoT applications. UAV formation, as an effective way to improve surveillance and security, has been extensively of concern. The leader–follower...
Formation control is a prerequisite for the formation to complete specified tasks safely and efficiently. Considering non-symmetrical communication interference and network congestion, this article aims to design a control protocol by studying the fo...
With the rapid development of UAV technology, the research of optimal UAV formation tracking has been extensively studied. However, the high maneuverability and dynamic network topology of UAVs make formation tracking control much more difficult. In...
This paper introduces a robust formation control strategy for Unmanned Aerial Vehicles (UAVs) designed to maintain coordinated trajectories and relative positioning in three-dimensional space. The proposed methodology addresses the challenges of para...
The formation control technology of the unmanned aerial vehicle (UAV) swarm is a current research hotspot, and formation switching and formation obstacle avoidance are vital technologies. Aiming at the problem of formation control of fixed-wing UAVs...
The formation control problem of distributed fixed-wing Unmanned Aerial Vehicles (UAVs) is investigated in this paper. By utilizing the theoretical foundations of non-cooperative game theory, a novel control strategy is introduced, which allows UAVs...
Most of the recent research on distributed formation control of unmanned aerial vehicle (UAV) swarms is founded on position, distance, and displacement-based approaches; however, a very promising approach, i.e., bearing-based formation control, is st...
Privacy-preserving has been crucial technique of multi-UAV systems, including cooperative detection, cooperative penetration and strike. Unprocessed interactive information poses a serious privacy threat to UAV swarm collaborative tasks. Considering...
In time-sensitive aerial missions such as urban surveillance, emergency response, and adversarial airspace operations, achieving rapid and reliable formation control of multi-UAV systems is crucial. This paper addresses the challenge of ensuring robu...
This study addresses the heterogeneous formation control problem for cooperative unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs) operating under input quantization constraints. A unified mathematical framework is developed to har...
This study focuses on the cooperative formation control problem of six-degree-of-freedom (6-DOF) fixed-wing unmanned aerial vehicles (UAVs) under constraints of limited communication resources and strict time requirements. The core innovation of the...
This paper investigates the air–ground cooperative time-varying formation-tracking control problem of a heterogeneous cluster system composed of an unmanned ground vehicle (UGV) and an unmanned aerial vehicle (UAV). Initially, the structure of...
To address collision challenges between multi-UAVs (unmanned aerial vehicles) during obstacle avoidance, a novel formation control method is proposed. Leveraging the concept of APF (artificial potential field), the proposed approach integrates UAV ma...
This paper studies the distributed formation control problem for multiple unmanned aerial vehicles (UAVs), focusing on preserving connectivity and avoiding obstacles within the constraints of a limited communication distance and in the presence of mu...
Unmanned Aerial Vehicles (UAVs) have multi-domain applications, fixed-wing UAVs being a widely used class. Despite the ongoing research on the topics of guidance and formation control of fixed-wing UAVs, little progress is known on implementation of...
In this paper, we propose a fusion algorithm that integrates the 3D vector field histogram plus (VFH+) algorithm and the improved dynamic window approach (DWA) algorithm. The aim is to address the challenge of cooperative obstacle avoidance faced by...
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