Robust cooperative Leader-follower formation flight control

This paper addresses the application of Model Predictive Control (MPC) approach for the Leader-followers formation flight problem. Under the robust decentralized unified MPC framework, the current collision avoidance scheme has been extended to take care of any shape and small pop-up obstacles. And in the heterogeneous Leader-follower situation, if the formation error term is added to the Leader´s cost function, then the formation will be maintained. The simulation results show that the modified decentralized MPC framework can successfully achieve and keep collision-free formation flights.