This paper presents a method for a minimalistic approach to tackle complex swarm behavior in Unmanned Aerial Vehicles (UAV). Here an extended decentralized consensus-based control of multi-agent system is proposed. The approach comprises three main objectives; Formation Control, Waypoint Following, Static and Dynamic Obstacle Avoidance that is independent of the count of UAVs connected together. The controller’s performance is evaluated in a MATLAB environment and finally validated on a hardware platform in the real-world which demonstrated the effectiveness of the controller and system architecture.
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Agrawal et al. (2020) studied this question.
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