Multi-UAV DMPC Cooperative Guidance with Constraints of Terminal Angle and Obstacle Avoidance

Table 1

Comparison of existing studies on MPC-based cooperative guidance.

Reference	Target type	Consensus on impact time	Coordination in impact angles	No-fly zone or obstacle avoidance	Convergence guarantee
[24]	Stationary	Yes	No	Yes	No
[27]	Stationary	Yes	No	No	No
[28]	Stationary	Yes	No	No	No
[29]	Low-speed maneuvering	Yes	Yes	No	No