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eess.SY2025
Nonlinear Model Predictive Control for Leaderless UAV Formation Flying with Collision Avoidance under Directed Graphs
Yiming Wang, Yao Fang, Jie Mei +2
This paper studies the leaderless formation flying problem with collision avoidance for a group of unmanned aerial vehicles (UAVs), which requires the UAVs to navigate through clut…
eess.SY2025
SEAL: Safety Enhanced Trajectory Planning and Control Framework for Quadrotor Flight in Complex Environments
Yiming Wang, Jianbin Ma, Junda Wu +5
For quadrotors, achieving safe and autonomous flight in complex environments with wind disturbances and dynamic obstacles still faces significant challenges. Most existing methods…