@article{nonlinearmodelpredictivecontrolfor7,
  title = {Nonlinear Model Predictive Control for Leaderless UAV Formation Flying with Collision Avoidance under Directed Graphs},
  author = {Yiming Wang and Yao Fang and Jie Mei and Youmin Gong and Guangfu Ma},
  year = {2025},
  eprint = {2505.06895},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2505.06895v1},
}