@inproceedings{232b5f3322fe4267b20437888a8be3f2,
title = "Flexible Formation and Obstacle Avoidance for Multi-UAV System via Nutcracker Optimization and Trajectory Control",
abstract = "This paper proposes a flexible formation and obstacle avoidance scheme for a multi-drone system. The compound task of the two assignments is transformed into a trajectory tracking issue through path planning based on the nutcracker optimization algorithm (NOA) under a weighted communication topology. The dynamics of UAV is established to build a fully actuated error system. By designing the control law, the goal of trajectory tracking is achieved. Stability analysis and proof are provided together with simulation verification of a six-drone team to verify the effectiveness of the proposed methods.",
keywords = "Formation control, Fully actuated system, Multi-UAV, NOA, Obstacle avoidance",
author = "Zhihao Liu and Peng Li and Yangkun Zhang",
note = "Publisher Copyright: {\textcopyright} 2025 IEEE.; 4th Conference on Fully Actuated System Theory and Applications, FASTA 2025 ; Conference date: 04-07-2025 Through 06-07-2025",
year = "2025",
doi = "10.1109/FASTA65681.2025.11138145",
language = "英语",
series = "Proceedings of the 4th Conference on Fully Actuated System Theory and Applications, FASTA 2025",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "2650--2655",
booktitle = "Proceedings of the 4th Conference on Fully Actuated System Theory and Applications, FASTA 2025",
address = "美国",
}