Addresses the problem of the reactive behaviors of flying 3Dnrobots evolving in dynamic and unknown environments. Collision avoidancenand target following have been studied with a common frame based on annonlinear control algorithm. This method is based on the deformablenvirtual zone approach, initially developed for land vehicles andnsubmarines. The main characteristics of this approach is the fact thatnthere is no geometrical modelling of the obstacles but a vectorialnrepresentation of the interaction between the robot and its environment.nThis approach allows one to implement fast control laws and can be seennas a efficient low-level algorithm for controlling motions both to avoidnobstacles and to reach moving goals. Several experimental results innsimulation, demonstrating a 3D flying robot, are proposed, and thenimplementation of the algorithm on a real small-size helicopter isndiscussed
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