The field of unmanned aerial vehicles (UAVs) and multi-agent systems is moving towards more decentralized and efficient control architectures. Recent developments have focused on leveraging Lie group-based geometric embeddings to achieve stable and periodic trajectories in 3D space. This approach has shown promise in eliminating the need for velocity inputs and allowing agents to receive only position inputs. Additionally, novel UAV designs such as fully-actuated hexacopters and omnidirectional quadrotors are being developed to achieve independent control of translational motion and attitude with minimal actuators. These advancements have the potential to improve flight efficiency, endurance, and robustness in various scenarios. Noteworthy papers include:

• Decentralized Swarm Control via SO(3) Embeddings for 3D Trajectories, which presents a novel decentralized approach for achieving emergent behavior in multi-agent systems.
• Lie Group Control Architectures for UAVs: a Comparison of SE2(3)-Based Approaches in Simulation and Hardware, which demonstrates the practical effectiveness of Lie group-based controllers.
• A Class of Dual-Frame Passively-Tilting Fully-Actuated Hexacopter and Gimballed Rotor Mechanism for Omnidirectional Quadrotors, which propose innovative UAV designs with improved flight capabilities.