Robust 3D Distributed Formation Control with Collision Avoidance and Application to MAVs
Channel: Kaveh Fathian
Date: 2018-09-16

We present a distributed control strategy for a team of agents to autonomously achieve a desired 3D formation. Our approach is based on local relative position measurements and can be applied to multirotor aerial vehicles. We validate the proposed approach experimentally and show that a team of quadrotors can achieve a desired 3D formation without collisions.

Kaveh Fathian, Sleiman Safaoui, Tyler Summers, Nicholas Gans
University of Texas at Dallas, USA.

Email: kavehfathian@gmail.com,  kaveh.fathian@utdallas.edu
Website: https://sites.google.com/view/kavehfathian