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Development of Algorithm for Guiding the Swarm of Unmanned Aerial Vehicles

The problem is considered for developing an algorithm for group guidance of unmanned aerial vehicles (UAVs), ensuring the simultaneous guidance to the target. In the first stage, a consensus algorithm is employed for decentralized multi-agent UAVs control. The aim of this stage is to achieve equal measured parameters given by the relative range to the target and the angle between the UAV’s velocity vector and the target line of sight. In the second stage, each UAV is independently guided to the target using a modified proportional 3D guidance law.