Contents I. Introduction
Formation control of unmanned aerial vehicle (UAV) swarm systems has received considerable interests in recent years due to its broad potential applications in civilian and military areas, such as drag reduction [1], surveillance and reconnaissance [2], [3], radiation detection and contour mapping [4], target search and localization [5], telecommunication relay [6], and so on. In the past decades, many formation control approaches have been proposed in robotics community, such as leader-follower [7], [8], behavior [9], virtual structure-based [10] approaches, and so on. With the development of UAV technology and the increasing demand for formation control of UAV swarm systems, more and more researchers try to deal with the formation problems for UAV swarm systems using these approaches.
