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Verifiable control of a swarm of unmanned aerial vehicles

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Figure

Figure 1: Potential and velocity fields (i) potential µ < 0 (ii) potential µ > 0
Table 1: Stability of equilibrium states
Figure 3: Phase diagram (i) µ < 0, r = 5 (ii) µ > 0, r = 5
Table 2: Lyapunov’s Second Theorem stability conditions
+7

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