A method for collaborative control of UAV swarm with adaptive dynamic boundary

A Control Barrier Function (CBF)-enhanced UAV swarm control framework with adaptive dynamic boundaries is proposed to overcome the static repulsion limitations of conventional Zonal Interaction Models (ZIM). By adaptively adjusting repulsive boundaries through real-time inter-agent state monitoring, the framework enhances swarm robustness under communication delays and wind shear disturbances. The collision avoidance mechanism integrates CBF-based safety constraints with state-dependent repulsion terms, validated through comparative simulations assessing formation consistency and collision risks. Results demonstrate improved swarm cohesion maintenance and safety performance over traditional ZIM approaches, offering an effective coordination strategy for complex aerial environments.