@inproceedings{c32afe44e6df48e39465f9f1bcccf959,
title = "Distributed optimal formation control with collision avoidance",
abstract = "To solve the problem of collision avoidance between UAVs in the process of multi-UAV formation configuration, a new form of safety zone constraints for collision avoidance is proposed, which transforms the safety zone constraints from the circular zone to the half-plane zone. This transformation makes the formation trajectory optimization be a standard quadratic programming problem, and a distributed receding horizon optimization method is used to solve the problem efficiently. Simulation results show that this method can get optimal formation trajectories under cooperative collision avoidance conditions.",
keywords = "Collision avoidance, Distributed receding horizon optimization, Model predictive control, Optimal control",
author = "Pengfei Jin and Jianqiao Yu and Xiaolin Ai and Yuanchuan Shen",
note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 4th IEEE Information Technology and Mechatronics Engineering Conference, ITOEC 2018 ; Conference date: 14-12-2018 Through 16-12-2018",
year = "2018",
month = dec,
doi = "10.1109/ITOEC.2018.8740742",
language = "English",
series = "Proceedings of 2018 IEEE 4th Information Technology and Mechatronics Engineering Conference, ITOEC 2018",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "615--619",
editor = "Bing Xu",
booktitle = "Proceedings of 2018 IEEE 4th Information Technology and Mechatronics Engineering Conference, ITOEC 2018",
address = "United States",
}