Multi-UAVs arbitrary formation control based on artificial physics

In this paper, we propose a control method based on the artificial physics and leader-follower strategy for the multiple Unmanned Aerial Vehicles (UAVs) arbitrary formation control, the main contribution of this paper is that we design a formation controller based on the modified artificial physics, and then successfully apply to the quadrotor formation, and the fixed-wing UAVs with the velocity and roll angle constraints, respectively. Compared with the existing methods, our artificial-physics-based control strategy is simple, scalable, robust and distributed.