A distributed 3D leader-follower UAV formation controller that embeds a nominal tracker inside a CBF-QP safety filter to enforce field-of-view visibility by construction.
Neural graph control barrier functions guided distributed collision-avoidance multi-agent control
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Distributed 3D Leader-Follower Formation Control with Field-of-View Safety via Control Barrier Functions
A distributed 3D leader-follower UAV formation controller that embeds a nominal tracker inside a CBF-QP safety filter to enforce field-of-view visibility by construction.