This article presents a novel method for the management of UAVs formations. Based on the fast marching square (FM2) technique, the proposed method allows the generation of soft realizable paths for a formation in leader–followers configuration, keeping a desired geometry among its different agents. The solution presented here also allows the UAVs formation to adapt its shape so that the obstacles can be avoided, at the same time that a flight level can be fixed with respect to the ground. Simulation results will be presented in different environments to show the validity and robustness of the approach.

中文翻译：

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使用快速行进方阵法的无人机编队方法

本文提出了一种管理无人机编队的新方法。基于快速行进广场 (FM2) 技术，所提出的方法允许为领导者-跟随者配置中的编队生成软可实现路径，在其不同代理之间保持所需的几何形状。这里提出的解决方案还允许无人机编队调整其形状，以便可以避开障碍物，同时可以相对于地面固定飞行高度。仿真结果将在不同环境下呈现，以展示该方法的有效性和鲁棒性。