Formation Control and Collision Avoidance for Multi-agent Non-holonomic Systems: Theory and Experiments

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Recent Advances in Indoor Localization: A Survey on Theoretical Approaches and Applications (2017, background): “Similarly, the work in [122] used the idea of forces among robots to avoid obstacles.”
A Survey on Aerial Swarm Robotics (2018, methodology): “been derived and demonstrated for quadrotors using modified temporal coordinates [95], for Dubin’s vehicles using local potential functions [96], and for spacecraft [97].”
Output-Feedback Cooperative Formation Maneuvering of Autonomous Surface Vehicles With Connectivity Preservation and Collision Avoidance (2020, background): “In order to avoid collisions with static obstacles in complex ocean environment, the following potential functions are introduced [45]:”
Integrated Optimal Formation Control of Multiple Unmanned Aerial Vehicles (2012, background): “Compared to the penalty function adopted in [15], and [35]–[37], the avoidance penalty function (40) is similar in part but different in the sense of avoidance strategy.”