# UAV Formation Flight

The work proposes a multi-UAV formation control framework called Pure Hamiltonian 3D RK Swarm, embedding an anisotropic vertically-scaled Rimon-Koditschek navigation potential into a pseudo-Hamiltonian dynamical framework, adding an active kinematic preview and deflection layer on the virtual target's trajectory, projecting rigid spatial offsets via a dynamic SO(3) rotation matrix, and using a spatial decay braking force modulated by the normal gradient of the workspace topology to curb overshoot; in numerical simulations with N=9 agents crossing an undulating sinusoidal terrain cluster, the formation satisfies hard safety constraints of 2.5 m buffer, 2.0 m altitude buffer, and 0.9 m inter-drone spacing.

The work proposes a multi-UAV formation control framework called Pure Hamiltonian 3D RK Swarm, embedding an anisotropic vertically-scaled Rimon-Koditschek navigation potential into a pseudo-Hamiltonian dynamical framework, adding an active kinematic preview and deflection layer on the virtual target's trajectory, projecting rigid spatial offsets via a dynamic SO(3) rotation matrix, and using a spatial decay braking force modulated by the normal gradient of the workspace topology to curb overshoot; in numerical simulations with N=9 agents crossing an undulating sinusoidal terrain cluster, the formation satisfies hard safety constraints of 2.5 m buffer, 2.0 m altitude buffer, and 0.9 m inter-drone spacing.