@article{Zhang2025, 
author = {Zhaoming Zhang and Yiming Wu and Jie Jiang and Ning Zheng and Wei Meng},
title = {Realization of Robust Formation for Multi-UAV Systems Using Control Barrier Functions},
year = {2025},
journal = {Unmanned Systems},
volume = {13},
number = {3},
pages = {737-751},
keywords = {Distributed systems, robust formation, multi-UAV, control barrier function},
url = {https://www.sciopen.com/article/10.1142/S2301385025500451},
doi = {10.1142/S2301385025500451},
abstract = {Network robustness is a necessary prerequisite for the effective execution of resilient control in distributed multiple unmanned aerial vehicles (UAVs). However, it remains a challenging task to construct a communication graph that satisfies specific network robustness properties. This paper investigates robust formation control of multi-UAV systems using control barrier functions (CBFs). We first propose a novel formation law to drive groups of UAVs into formations with communication graphs that satisfy the (r, s)-robustness. With such a law, all the normal UAVs in the formation are capable of executing a given resilient consensus protocol, and achieving convergence in the presence of malicious attackers. Then, we present a control law that facilitates the establishment of UAV formations, in which the communication graphs satisfy p-fraction robustness. Finally, simulation examples are given to verify the effectiveness of the proposed formation control laws.}
}