{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,20]],"date-time":"2026-03-20T07:56:02Z","timestamp":1773993362597,"version":"3.50.1"},"reference-count":39,"publisher":"Wiley","issue":"3","license":[{"start":{"date-parts":[[2024,12,30]],"date-time":"2024-12-30T00:00:00Z","timestamp":1735516800000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Journal of Field Robotics"],"published-print":{"date-parts":[[2025,5]]},"abstract":"<jats:title>ABSTRACT<\/jats:title>\n                  <jats:p>The high efficiency of multiple quadrotors coordination makes it widely used. However, the technology faces threats from internal collisions as well as external obstacles. This paper proposes a multiquadrotors distributed cooperative collision\u2010free tracking control framework, which consists of three parts: collision avoidance mechanism, obstacle avoidance mechanism and tracking control. First, in the face of internal and external threats, the collision avoidance function with damping is designed based on Hooke's law. And the potential energy function is designed for multiple quadrotors obstacle avoidance based on bird flock obstacle avoidance. Then, a distributed control protocol is proposed based on consensus theory. Finally, a multi\u2010quadrotors simulation and experiment platform with the same architecture is built. We deploy the framework on the multiple quadrotor platform and conduct collision avoidance, obstacle avoidance, and encirclement experiments with 30 quadrotors. The experimental results show that the quadrotors can perform the task well. The minimum distance between quadrotors is 0.8022\u2009m, and the minimum distance from obstacles is 0.8866\u2009m, all of which meet the safety distance requirements. Moreover, compared with classical and advanced methods in simulation, our proposed method has the smallest average tracking error, only 0.3019\u2009m, and improves task time by 7.03% and 6.23%, respectively, which verifies the effectiveness and practicality of the proposed framework of distributed cooperative collision avoidance and tracking control for multiple quadrotors.<\/jats:p>","DOI":"10.1002\/rob.22502","type":"journal-article","created":{"date-parts":[[2024,12,30]],"date-time":"2024-12-30T10:21:13Z","timestamp":1735554073000},"page":"827-849","update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Distributed Cooperative Collision\u2010Free Tracking Control for 30 Quadrotors Under Internal and External Threats"],"prefix":"10.1002","volume":"42","author":[{"ORCID":"https:\/\/orcid.org\/0009-0005-9181-7001","authenticated-orcid":false,"given":"Guang","family":"Yang","sequence":"first","affiliation":[{"name":"Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System, School of Electrical and Information Engineering Tianjin University Tianjin China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5209-3099","authenticated-orcid":false,"given":"Juntong","family":"Qi","sequence":"additional","affiliation":[{"name":"Institute of Artificial Intelligence Shanghai University Shanghai China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8969-7291","authenticated-orcid":false,"given":"Mingming","family":"Wang","sequence":"additional","affiliation":[{"name":"Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System, School of Electrical and Information Engineering Tianjin University Tianjin China"}]},{"given":"Chong","family":"Wu","sequence":"additional","affiliation":[{"name":"EFY (Hainan) Technology Co., Ltd Hainan China"}]},{"given":"Jinjin","family":"Guo","sequence":"additional","affiliation":[{"name":"The 28th Research Institute of China Electronic Technology Group Corporation Nanjing China"}]},{"given":"Yuan","family":"Ping","sequence":"additional","affiliation":[{"name":"EFY (Hainan) Technology Co., Ltd Hainan China"}]},{"given":"Yan","family":"Peng","sequence":"additional","affiliation":[{"name":"Institute of Artificial Intelligence Shanghai University Shanghai China"}]}],"member":"311","published-online":{"date-parts":[[2024,12,30]]},"reference":[{"issue":"3","key":"e_1_2_11_2_1","first-page":"71","article-title":"Collective Motion","volume":"517","author":"Akhtar A.","year":"2012","journal-title":"Physics Reports\u2010Review Section Of Physics Letters"},{"key":"e_1_2_11_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2021.3133693"},{"key":"e_1_2_11_4_1","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1324045111"},{"key":"e_1_2_11_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2023.3240286"},{"key":"e_1_2_11_6_1","doi-asserted-by":"publisher","DOI":"10.1080\/21642583.2023.2268153"},{"key":"e_1_2_11_7_1","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2023.3329029"},{"key":"e_1_2_11_8_1","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2014.2314460"},{"key":"e_1_2_11_9_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2016.2593656"},{"key":"e_1_2_11_10_1","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21581"},{"key":"e_1_2_11_11_1","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21842"},{"key":"e_1_2_11_12_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3240376"},{"key":"e_1_2_11_13_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.compag.2023.108128"},{"key":"e_1_2_11_14_1","article-title":"E2copre: Energy Efficient and Cooperative Collision Avoidance for Uav Swarms With Trajectory Prediction","volume":"6","author":"Huang S.","year":"2024","journal-title":"IEEE Transactions on Intelligent Transportation Systems"},{"key":"e_1_2_11_15_1","doi-asserted-by":"publisher","DOI":"10.1002\/rob.22021"},{"key":"e_1_2_11_16_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.apm.2022.12.032"},{"key":"e_1_2_11_17_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.ast.2021.106736"},{"key":"e_1_2_11_18_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.ress.2023.109606"},{"key":"e_1_2_11_19_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICUAS57906.2023.10156413"},{"key":"e_1_2_11_20_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11431-013-5314-2"},{"key":"e_1_2_11_21_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.biosystemseng.2022.12.001"},{"issue":"12","key":"e_1_2_11_22_1","first-page":"1","article-title":"Fully Autonomous Flying: From Collective Motion in Bird Flocks to Unmanned Aerial Vehicle Autonomous Swarms. 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