A UAV formation follows a path, senses obstacles via ISAC signals, repositions on its virtual circle to lower the CRLB, and fuses avoidance with path-following through null-space priorities.
Information-rich formation tracking: a unified scheme of cooperative control and localization,
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Cooperative Sensing Enhanced UAV Path-Following and Obstacle Avoidance with Variable Formation
A UAV formation follows a path, senses obstacles via ISAC signals, repositions on its virtual circle to lower the CRLB, and fuses avoidance with path-following through null-space priorities.