Novel Pigeon-inspired 3D Obstacle Detection and Avoidance Maneuver for Multi-UAV Systems

-- 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. Inspired by the collective behavior of tilapia fish and pigeons, the focus of the presented research is on the introduction of a nature - inspired collision - free formation control for a multi - UAV system, considering the obstacle avoidance maneuvers. The developed framework in this study utilizes a semi - distributed control approach, in which, based on a probabilistic Lloyd's algorithm, a centralized guidance algorithm works for optimal positioning of the UAVs, while a distributed control approach has been used for the intervehicle collision and obstacle avoidance. Further, the presented framework has been extended to the 3D space with a novel definition of 3D maneuvers. Collision Avoidance, Centroidal Voronoi Tessellation, Distributed Control, Formation Control, Multi - Agent System, Obstacle Avoidance . From an engineering perspective, swarm intelligence shows how decentralized systems, composed of numerous simple agents, can achieve complex collective behaviors.