MPC-based distributed formation control of multiple quadcopters with obstacle avoidance and connectivity maintenance

Published in Control Engineering Practice, 2022

Recommended citation: Salim Vargas, Héctor Becerra, Jean-Bernard Hayet, "MPC-based distributed formation control of multiple quadcopters with obstacle avoidance and connectivity maintenance." Control Engineering Practice, 2022. https://www.sciencedirect.com/science/article/pii/S0967066121003002