Flight Formation of Multiple UAVs

  • Guowei Cai
  • Ben M. Chen
  • Tong Heng Lee
Part of the Advances in Industrial Control book series (AIC)


To conclude the whole monograph, we feature respectively in Chaps. 10 and  11 the applications of the unmanned rotorcraft systems constructed. More specifically, in Chap. 10, we present some basic results on flight formation and collision avoidance of multiple unmanned systems. We adopt the leader-follower pattern to maintain a fixed geometrical formation while navigating the unmanned rotorcraft following certain trajectories. In order to avoid possible collisions in the actual formation flight test, a collision avoidance scheme based on some predefined alert zones and protected zones is employed. Simulations and experimental results are presented to verify our design. We should note that with the utilization of the RPT control technique presented in Chap.  8, the flight formation control is rather straightforward.


Collision Avoidance Trajectory Tracking Protected Zone Flight Trajectory Multiple UAVs 
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Copyright information

© Springer-Verlag London Limited 2011

Authors and Affiliations

  1. 1.Temasek LaboratoriesNational University of SingaporeSingaporeSingapore
  2. 2.Dept. Electrical & Computer EngineeringNational University of SingaporeSingaporeSingapore

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