Recent advances in multi-agent systems manipulation have demonstrated a rising demand for the implementation of multi-UAV systems in urban areas which are always subjected to the presence of static and dynamic obstacles. The focus of the presented research is on the introduction of a nature-inspired collision-free control for a multi-UAV system considering obstacle avoidance maneuvers. Inspired by the collective behavior of tilapia fish and pigeon, the presented framework in this study uses a centralized controller for the optimal formation control/recovery, which is defined by probabilistic Lloyd's algorithm, while it uses a distributed controller for the intervehicle collision and obstacle avoidance. Further, the presented framework has been extended to the 3D space with 3D maneuvers. Finally, the presented framework has been applied to a multi-UAV system in 2D and 3D scenarios, and obtained results demonstrated the validity of the presented method in the presence of buildings and different types of obstacles.

翻译：近年来，多智能体系统操控技术的进步表明，在城市区域部署多无人机系统的需求日益增长，而这些区域始终存在静态与动态障碍物。本研究重点提出一种受自然启发的多无人机系统无碰撞控制方法，并考虑避障机动策略。受罗非鱼群与鸽群集体行为的启发，本研究所提出的框架采用集中式控制器实现最优编队控制/恢复（由概率性Lloyd算法定义），同时采用分布式控制器处理无人机间碰撞与障碍物规避问题。此外，该框架已扩展至支持三维空间机动。最后，本研究将所提框架应用于二维与三维场景中的多无人机系统，实验结果表明该方法在建筑物及多种障碍物存在的情况下具有有效性。