SCIENCE CHINA Information Sciences, Volume 63 , Issue 4 : 140312(2020) https://doi.org/10.1007/s11432-019-2763-5

Leader-following flocking for unmanned aerial vehicle swarm with distributed topology control

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  • ReceivedSep 26, 2019
  • AcceptedJan 10, 2020
  • PublishedMar 9, 2020



This work was supported in part by Foundation of Beijing Engineering and Technology Center for Convergence Networks and Ubiquitous Services, Joint Foundation of the Ministry of Education (MoE) and China Mobile Group (Grant No. MCM20160103), and Beijing Institute of Technology Research Fund Program for Young Scholars.


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  • Figure 5

    (Color online) $\gamma^*$ (a), $d^*$ (b), $v^*$ (c) and $E^*$ (d) under different $\beta$ at $N=20,~50,\text{~and~}80$.

  • Figure 6

    (Color online) Final state and trajectories of UAVs. (a) Final state of all UAVs; (b) trajectories of UAV swarm center and leader.

  • Figure 7

    (Color online) $\gamma^*$ (a), $d^*$ (b), $v^*$ (c) and $E^*$ (d) at each iteration.


    Algorithm 1 $\beta~$-angle test

    Require:neighbor position matrix ${\boldsymbol~p}_i$ for each UAV $i$, critical value of $\beta$;

    for $j\in~\mathcal{N}_i$

    for $k\in~\mathcal{N}_i~~\backslash~\{j\}~~$

    calculate $\angle~ikj$;

    if $\angle~ikj~>~\beta~$ then



    end if


    end for

    end for

    return $A_i$.