Hunting problems of multi-quadrotor systems via bearing-based hybrid protocols with hierarchical network

Xu Zhen^{1, 2}, Liu Xin-Zhi², Chen Qing-Wei^{1, †}, Wu Zi-Xing^{1, 2}

Four kinds of the formation methods. (a) The position-based formation, (b) the displacement-based formation, (c) the distance-based formation, (d) the bearing-based formation.