An Improved Second-order Consensus Multi-UAV Distributed Formation Method

To address the long formation time and total travel distance of large-scale UAV collaborative formations, as well as formation control errors caused by delays and interference, we first used the Kuhn-Munkres algorithm combined with the distributed Starfish optimization algorithm to find the optimal position allocation solution. We then used a second-order consistency method that incorporated prediction delay compensation and a dynamically weighted artificial potential field to rapidly form the t