Grouping Formation and Obstacle Avoidance Control of UAV Swarm Based on Synchronous DMPC

Figure 2

Three-dimensional trajectories and top view of swarm obstacle avoidance.

(a) Three-dimensional trajectories

(b) Top view of trajectories

(c) Top view of trajectories based on artificial potential field (APF) [10]

(d) Top view of trajectories based on consensus theory [15]