Consensus-based cooperative formation control with collision avoidance for a multi-UAV system

Yasuhiro Kuriki, Toru Namerikawa

研究成果: Conference contribution

111 被引用数 (Scopus)


In this paper, we study cooperative control problems with a multi-UAV system. Specifically, we propose a c consensus-based cooperative formation control strategy with collision-avoidance capability for a group of multiple unmanned aerial vehicles (UAVs). To cooperatively fly in formation, a consensus-based algorithm and a leader-follower structure are applied to the UAVs. Collisions among the UAVs can occur while they are flying with the cooperative control algorithm. Therefore, we describe how the cooperatively controlled UAVs avoid collisions while they are flying to desired position for formation. The collision-avoidance strategy is based on an artificial potential approach. The convergence is guaranteed even when the cooperative formation control algorithm and the collision-avoidance control algorithm are simultaneously applied to the quadrotors. Finally, the proposed approach is validated by some simulations.

ホスト出版物のタイトル2014 American Control Conference, ACC 2014
出版社Institute of Electrical and Electronics Engineers Inc.
出版ステータスPublished - 2014 1 1
イベント2014 American Control Conference, ACC 2014 - Portland, OR, United States
継続期間: 2014 6 42014 6 6


名前Proceedings of the American Control Conference


Other2014 American Control Conference, ACC 2014
CountryUnited States
CityPortland, OR

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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