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In the absence of obstacles, the assigned topology, based on an extended Delaunay triangulation concept, implements regular and connected formation shapes. In the presence of obstacles, this technique is combined with a model predictive control (MPC) that allows forming independent sub-swarms optimizing the formation spreading to avoid obstacles and collisions between neighboring vehicles. A custom numerical simulator was developed in a Matlab\/Simulink environment to prove the effectiveness of the proposed guidance and control scheme in several 2D operational scenarios with obstacles of different sizes and increasing number of aircraft.<\/jats:p>","DOI":"10.3390\/s20154324","type":"journal-article","created":{"date-parts":[[2020,8,3]],"date-time":"2020-08-03T06:16:47Z","timestamp":1596435407000},"page":"4324","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":32,"title":["Decentralized Mesh-Based Model Predictive Control for Swarms of UAVs"],"prefix":"10.3390","volume":"20","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0411-3729","authenticated-orcid":false,"given":"Salvatore Rosario","family":"Bassolillo","sequence":"first","affiliation":[{"name":"Department of Engineering, University of Campania Luigi Vanvitelli, 81031 Aversa (CE), Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2766-3862","authenticated-orcid":false,"given":"Egidio","family":"D\u2019Amato","sequence":"additional","affiliation":[{"name":"Department of Science and Technology, University of Naples Parthenope, 80143 Naples, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7997-039X","authenticated-orcid":false,"given":"Immacolata","family":"Notaro","sequence":"additional","affiliation":[{"name":"Department of Engineering, University of Campania Luigi Vanvitelli, 81031 Aversa (CE), Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5927-352X","authenticated-orcid":false,"given":"Luciano","family":"Blasi","sequence":"additional","affiliation":[{"name":"Department of Engineering, University of Campania Luigi Vanvitelli, 81031 Aversa (CE), Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7951-6584","authenticated-orcid":false,"given":"Massimiliano","family":"Mattei","sequence":"additional","affiliation":[{"name":"Department of Engineering, University of Campania Luigi Vanvitelli, 81031 Aversa (CE), Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2020,8,3]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Raymer, D. 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