Table 2 Initial conditions of the UAVs.

From: Multi-criteria decision model for multicircular flight control of unmanned aerial vehicles through a hybrid approach

Parameter name

Values

Initial positions of UAVs (m)

p1(0) = [− 50, − 50] T; p2(0) = [50, − 60] T; p3(0) = [− 100, − 100] T; p4(0) = [− 200, 0] T; p5(0) = [− 50, 150] T; p6(0) = [− 100, 200] T; p7(0) = [− 50, 300] T; p8(0) = [− 100, − 100] T

Initial heading angles of UAVs (rad)

ψ1(0) = − 0.3957; ψ2(0) = π + 0.0977; ψ3(0) = 0.4259; ψ4(0) = 0.7771; ψ5(0) = π + 0.3685; ψ6(0) = − 0.5923; ψ7(0) = − 0.7151; ψ8(0) = 1.1425

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