A 3D obstacle-avoidance extension for multi-UAV swarms is claimed, but the novel rotational potential reduces to a radial repulsion because rotation matrices preserve distance, invalidating the extra degree of freedom.
Distributed Fuzzy Leader -Follower Vehicular Formation Control With Appointed -Time Performances and Obstacle Avoidance,
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Novel Pigeon-inspired 3D Obstacle Detection and Avoidance Maneuver for Multi-UAV Systems
A 3D obstacle-avoidance extension for multi-UAV swarms is claimed, but the novel rotational potential reduces to a radial repulsion because rotation matrices preserve distance, invalidating the extra degree of freedom.