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. (C) 2016 Elsevier Ltd. All rights reserved.