Subsumption architecture applied to flight control using composite rotations

In this paper the subsumption theory is applied to flight control through composite rotations where multiple tasks can be defined as simple rotations. The tasks can then be arranged as a hierarchy, where the primary task is always fully pursued, and conflicting lower level tasks are removed by the primary rotation. The concept is applied to a group of uavs that move through an urban terrain while avoiding collisions with the ground, the buildings and other uavs as they track a desired waypoint.