Distributed 3D Leader–Follower Formation Control with Field-of-View Safety via Control Barrier Functions

Project website for our paper on perception-aware safe 3D leader–follower formation control for multi-UAV systems.

We propose a distributed control framework that lets a follower drone track a leader in 3D while guaranteeing the leader stays inside the follower's onboard camera view at all times — even during aggressive maneuvers and even when the desired formation conflicts with what the camera can see.

Live site: https://noelsadventure.github.io/perceptionAware3DFollower.github.io/

Authors

• Immanuel R. Santjoko^1†
• Richie R. Suganda^1†
• Bin Hu^1,2

¹ Department of Electrical and Computer Engineering, University of Houston ² Department of Engineering Technology, University of Houston ^† Equal contribution

Repository structure

.
├── index.html          # Main project website
├── oldindex.html       # Previous version (kept for reference)
├── static/
│   ├── css/            # Bulma + custom styles
│   ├── js/             # Bulma carousel/slider, FontAwesome
│   ├── images/         # Figures from the paper
│   └── videos/         # Simulation and hardware experiment videos
└── README.md

The references/ folder (paper PDF and LaTeX source) is gitignored and not published.

Running locally

The site is plain static HTML — no build step needed. Just open index.html in a browser, or serve the folder with any static server, for example:

python -m http.server 8000
# then visit http://localhost:8000

Citation

If you find this work useful, please cite:

@article{santjoko2026perceptionaware3dlff,
  author  = {Santjoko, Immanuel R. and Suganda, Richie R. and Hu, Bin},
  title   = {Distributed 3D Leader--Follower Formation Control with
             Field-of-View Safety via Control Barrier Functions},
  journal = {Under Review},
  year    = {2026},
}

Acknowledgements

Research supported by the University of Houston. Website template adapted from the Nerfies project.

License

This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.