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

Yasuhiro Kuriki, Toru Namerikawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

185 Citations (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.

Original languageEnglish
Title of host publication2014 American Control Conference, ACC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)9781479932726
Publication statusPublished - 2014 Jan 1
Event2014 American Control Conference, ACC 2014 - Portland, OR, United States
Duration: 2014 Jun 42014 Jun 6

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2014 American Control Conference, ACC 2014
Country/TerritoryUnited States
CityPortland, OR


  • Cooperative control
  • Linear systems
  • Multivehicle systems

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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