@inproceedings{b728ccd133804b6d82aba29327d9b1af,
title = "Leader-Follower Formation Control with Integrated Collision Avoidance",
abstract = "This paper proposes a leader-follower formation control with integrated collision avoidance. First, a constrained unmanned aerial vehicle (UAV) swarm model is constructed based on a leader–follower framework. Based on this framework, a formation controller based on the consensus algorithm is designed to achieve both formation maintenance and transformation. For autonomous collision avoidance, for the leader UAV, the interfered fluid dynamics system (IFDS) is proposed; for the follower UAVs, the threat assessment based on speed obstacle angle is proposed, and then formation transformation based on consensus algorithm is used to achieve collision avoidance. Simulations are carried out to demonstrate the effectiveness of the algorithm.",
keywords = "Collision avoidance, Formation control, Leader-follower, UAV",
author = "Yi Du and Honglun wang and Jinbai Li and Menghua Zhang and Bin Ren",
note = "Publisher Copyright: {\textcopyright} Beijing HIWING Scientific and Technological Information Institute 2026.; 5th International Conference on Autonomous Unmanned Systems, ICAUS 2025 ; Conference date: 17-10-2025 Through 19-10-2025",
year = "2026",
doi = "10.1007/978-981-95-7664-7\_22",
language = "英语",
isbn = "9789819576630",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "238--247",
editor = "Shaorong Xie and Yifeng Niu and Wenxing Fu and Yi Qu",
booktitle = "Proceedings of 5th 2025 International Conference on Autonomous Unmanned Systems, ICAUS - Volume 4",
address = "德国",
}