This study focuses on guidance for uninhabited aerial vehicles (UAVs) conducting a coordinated standoff flight around some pre-specified area or a point. A guidance law for a single standoff-flying-UAV is proposed, first. Although the proposed guidance law is simple, it can incorporate desired properties such that the UAV orients to the target point when the UAV approaches far from the target point, whereas the UAV conducts standoff flight as the UAV comes close to the target point. A guidance

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... aw for multiple UAVs should take account of avoiding collision with other UAVs. For this purpose, a concept of decentralized control is introduced where the guidance law for multiple UAVs can be developed by adding a simple term to the guidance law for a single standoff-flying-UAV. Potential of the novel guidance laws for a single UAV and multiple UAVs are performed with some coordinated standoff flight simulations.