Circular Formation Cooperative Control of UAVs Based Solely on Distance Information

Drone swarm control is one of the hot research topics in the field of unmanned aerial vehicle (UAV) technology. In this paper, we aim to design a control method to achieve the goals of uniform distribution and accurate tracking of the moving center for n drones. To address this problem, we propose a new control algorithm, which forms a stable formation by adjusting the motion of UAVs based solely on their distance information. Moreover, by designing novel control laws, each UAV converges to a circular path and follows the center of the circle. Finally, simulation experiments confirm the effectiveness of the proposed control methods in achieving the desired swarm formation and accurate tracking.