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 cooperative obstacle avoidance and formation reconfiguration for multiple quadrotors: Theory and experiment,
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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.