Consensus- Based Flexible Group Formation Control for Multi-UAVs Systems

This paper introduces a comprehensive approach to group formation control by introducing the concept of flexible formation while analyzing maneuverability. A consensus-based formation control algorithm is integrated into the flexible group formation control, with the formation point of the flexible formation acting as the group leader. The effectiveness of the suggested algorithm is substantiated through simulations executed on a laboratory-developed platform with a realistic fixed-wing UAV dynamic model.