Systematic Review of Formation Control for Multiple Unmanned Aerial Vehicles

Multi-Unmanned Aerial Vehicle (UAV) formation control, enabling a group of UAVs to maintain a specified geometric pattern amidst environmental constraints, is an emerging research domain. This paper renders an exhaustive review of multi-UAV formation control methods. Initially, we delineate the primary challenges of formation control and set a foundational framework. This framework is segmented into three layers: formation control, communication topology, and motion control, each operating under potential external environmental constraints, with integral issues and strategies explored. Following, we categorize existing control strategies into five groups: leader-follower, virtual structure, behavior-based, consensus-based, and bio-inspired self-organizing methods. For each, we outline distinctive features, review relevant literature, and discern their strengths and weaknesses. In conclusion, we assess the current research state, anticipate future trends, and underscore the deficiencies and challenges of current strategies. This paper aspires to provide a thorough overview of formation control in multi-UAVs.