ABSTRACT This paper presents a scalable solution for the coordinated control of swarms of UAVs operating in complex three‐dimensional environments with no‐fly zones and obstacles. The proposed approach is based on a priority‐driven behaviour structure implemented using the null‐space behavioural (NSB) technique. Each UAV dynamically adapts its behaviour according to a predefined task hierarchy including collision avoidance, obstacle‐avoidance, formation maintenance and target achievement. By projecting lower priority control actions into the null space of higher priority tasks, the method ensures conflict‐free execution of tasks with respect to the fulfilment of the overall mission. The control architecture has a fully decentralised structure and is designed to maintain performance and scalability as the number of UAVs increases. The results of several experimental tests have demonstrated the effectiveness of the proposed method in maintaining formation and achieving mission objectives in constrained environments.
Bassolillo et al. (2025) studied this question.