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Optimal Formation Control for A Quadrotor Team under Switching Topologies via Reinforcement Learning*

This paper investigates the formation control problem of a quadrotor team subject to unknown nonlinear dynamics and switching topologies. A hierarchical controller including a position controller and an attitude controller is proposed based on the reinforcement learning approach without knowledge of the vehicle dynamics. Simulation results of a quadrotor team are given to shown the effectiveness of the proposed controller.