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In this paper, collision-free guidance control of multiple small unmanned aerial vehicles (SUAVs) is designed. Collision avoidance of the SUAVs should be considered in the control system design for safe operation. Therefore, a guidance control system using a distributed model predictive control (DMPC) is proposed to realize the collision avoidance. A constraint for the relative position vector between the each UAV is considered in the design for efficient avoidance. Small multi-rotor helicopterdoi:10.1299/mej.17-00117 fatcat:72lav4e23jcmbdwsvx2yf757c4