| Abstract: |  A 3D extension of the leader-follower approach of formation trajectory planning, applicable for a formation of autonomous quad-rotor Unmanned Aerial Vehicles, is presented in this thesis. The proposed trajectory planning approach is based on the Model Predictive Control (MPC) method. The implemented system is suitable for deployment of groups of flying robots in environment with static as well as dynamic obstacles. Beside the obstacle avoidance functionality, a failure tolerance mechanism is included into the formation coordination. Simulation results are provided to show the~correctness of the~proposed methods.
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