Distributed Model Predictive Formation Control ofMulti-Rotor UAVs with Virtual Tube

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𝗗𝗿𝗼𝗻𝗲 𝗶𝗻𝘀𝗽𝗲𝗰𝘁𝗶𝗼𝗻 𝗽𝗿𝗼𝗴𝗿𝗮𝗺 𝗳𝗼𝗿 𝗽𝗼𝗽𝗽𝘆 𝗱𝗲𝘁𝗲𝗰𝘁𝗶𝗼𝗻. 𝗗𝗿𝗼𝗻𝗲 𝗶𝗻𝘀𝗽𝗲𝗰𝘁𝗶𝗼𝗻 𝗽𝗿𝗼𝗴𝗿𝗮𝗺 𝗳𝗼𝗿 𝗽𝗼𝗽𝗽𝘆 𝗱𝗲𝘁𝗲𝗰𝘁𝗶𝗼𝗻.
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