Multi-UAV Path Following using Vector-Field Guidance
Fuente:
arXiv
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| Autores principales: | , , |
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| Formato: | Preprint |
| Publicado: |
2026
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| Acceso en línea: | |
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| _version_ | 1866913050579173376 |
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| author | Kumar, Gautam Shivam, Amit Ratnoo, Ashwini |
| author_facet | Kumar, Gautam Shivam, Amit Ratnoo, Ashwini |
| contents | This paper presents a decentralized, collision-free framework for path following guidance of multiple uncrewed aerial vehicles (UAVs), while maintaining uniform spacing along a reference path. A vector field-based guidance law is employed to drive each UAV toward the reference path. A rotational repulsion mechanism, utilizing relative distance and bearing between UAVs, is proposed to avoid collisions during convergence to the path, and an inter-UAV spacing error-based velocity control law is presented to achieve uniform separation along the path. Analytical guarantees are established for collision avoidance and convergence of the inter-UAV spacing errors to zero, ensuring uniform separation along the path. Numerical simulations demonstrate the efficacy of the proposed method. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2604_17995 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Multi-UAV Path Following using Vector-Field Guidance Kumar, Gautam Shivam, Amit Ratnoo, Ashwini Multiagent Systems This paper presents a decentralized, collision-free framework for path following guidance of multiple uncrewed aerial vehicles (UAVs), while maintaining uniform spacing along a reference path. A vector field-based guidance law is employed to drive each UAV toward the reference path. A rotational repulsion mechanism, utilizing relative distance and bearing between UAVs, is proposed to avoid collisions during convergence to the path, and an inter-UAV spacing error-based velocity control law is presented to achieve uniform separation along the path. Analytical guarantees are established for collision avoidance and convergence of the inter-UAV spacing errors to zero, ensuring uniform separation along the path. Numerical simulations demonstrate the efficacy of the proposed method. |
| title | Multi-UAV Path Following using Vector-Field Guidance |
| topic | Multiagent Systems |
| url | https://arxiv.org/abs/2604.17995 |