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UAV collective motion has become a hot research topic in recent years. Therealization of UAV collective motion, however, relied heavily on centralizedcontrol method and suffered from instability. Inspired by bird flocking theory,a control strategy for UAV collective motion with distributed measure andcontrol methods was proposed in this study. In order to appropriately adjustthe inter-agent distance suitable for realization, the control law based onbird flocking theory was optimized, and the convergence of velocities andcollision avoidance properties were presented through simulation results.Furthermore, the stable collective motion of two UAVs using visual relativeinformation only with proposed strategy in both indoor and outdoor GPS-deniedenvironments were realized.

Bird Flocking Inspired Control Strategy for Multi-UAV Collective Motion