Ahmad Rasdan RosdiNoor Hanis Izzuddin Mat LazimMuhammad Muaz Abni HajarLiyana Ramli2024-05-312024-05-312021-09-09https://oarep.usim.edu.my/handle/123456789/18503Date: 9 September 2021 Platform: MSTeams, USIM Nilai, Negeri Sembilan, Malaysia.This paper presents a collision-free virtual leader-follower formation control for a group of quadrotors using artificial potential field (APF) and proportional--derivative (PD) controller. The proposed control approach consists of PD controllers that stabilise the attitude, as well as for the position control. To avoid collision with obstacles, APF algorithm is used at the outer-most loop whereby the collision-free path is fed into the position control. Several simulation experiments were carried out to validate the proposed approach. Results show that the integration of APF to the controller were able to avoid obstacles. Keywords: Formation control, multi-agent system, leader-follower, artificial potential field, unmanned aerial vehicleenFormation control,multi-agent system,leader-follower,artificial potential field,unmanned aerial vehicleArticle