A decentralized geometric approach for the formation keeping in unmanned aircraft navigation

Formation control is concerned with the problem of arranging or rearranging agents into a target configuration (such as a line or surface of a sphere) while preserving threshold distances that enable communication and avoid collisions. In this work, a decentralized algorithm for formation control of a multi vehicle fault-tolerant system is proposed. By using computational geometry techniques, a novel control strategy is considered to regroup a team in the presence of failures of one or more members. The strategy achieves the target geometric configuration while avoiding collisions. Simulation results validate the effectiveness of the proposed control method.