Distributed Estimation, Control and Coordination of Quadcopter Swarm Robots

Zheng Jia; Michael Hamer; Raffaello D'Andrea

Distributed Estimation, Control and Coordination of Quadcopter Swarm Robots

Robotics 2021-02-16 v1 Systems and Control Systems and Control

Authors: Zheng Jia , Michael Hamer , Raffaello D'Andrea

Abstract

In this thesis we are interested in applying distributed estimation, control and optimization techniques to enable a group of quadcopters to fly through openings. The quadcopters are assumed to be equipped with a simulated bearing and distance sensor for localization. Some quadcopters are designated as leaders who carry global position sensors. We assume quadcopters can communicate information with each other.

Keywords

multi-robot systems distributed optimization quadrotor control

Cite

@article{arxiv.2102.07107,
  title  = {Distributed Estimation, Control and Coordination of Quadcopter Swarm Robots},
  author = {Zheng Jia and Michael Hamer and Raffaello D'Andrea},
  journal= {arXiv preprint arXiv:2102.07107},
  year   = {2021}
}

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