This article presents a novel method for the management of UAVs formations. Based on the fast marching square (FM2) technique, the proposed method allows the generation of soft realizable paths for a formation in leader–followers configuration, keeping a desired geometry among its different agents. The solution presented here also allows the UAVs formation to adapt its shape so that the obstacles can be avoided, at the same time that a flight level can be fixed with respect to the ground. Simulation results will be presented in different environments to show the validity and robustness of the approach.
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