Highlights
What are the main findings?
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A DMPC-SQP-based cooperative tracking framework for UAV swarm is proposed. In dense threat environments, it achieves a 93.4% QP feasibility rate and reduces the mean tracking error by 25.4% compared to fixed-altitude DMPC and by 48.7% compared to LQR.
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An altitude-cooperative target recapture strategy is designed. After target loss due to threat occlusion, it reduces the total loss duration from 16.80 s to 9.10 s, increasing the target coverage rate to 90.90%.
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A decentralized formation reconfiguration strategy is proposed. Following member failure, the swarm autonomously completes leader election and formation reorganization within 10 s, while maintaining a safe inter-UAV separation.
