Grouping Formation and Obstacle Avoidance Control of UAV Swarm Based on Synchronous DMPC

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/ijae/volume-2024/4934194/figures/4934194.fig.0011a.svgz" name="4934194.fig.0011a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Cost function curves under member-level obstacle avoidance strategy</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/ijae/volume-2024/4934194/figures/4934194.fig.0011b.svgz" name="4934194.fig.0011b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Cost function curves under group-level obstacle avoidance strategy</td></tr></table>

<div>Cost function curves under two obstacle avoidance strategies.</div>

International Journal of Aerospace Engineering

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Figure 11

Figure 11: Grouping Formation and Obstacle Avoidance Control of UAV Swarm Based on Synchronous DMPC 