2021/11/10 by Hamid Emadi, Emadi, Hamid, Harshvardhan Uppaluru +5
Computer Science · Engineering · #Distributed Control Multi-Agent Systems #Dynamical Systems (math.DS) #FOS: Mathematics #Modular Robots and Swarm Intelligence #Robotics and Sensor-Based Localization
paper · pdf · doi:10.48550/arxiv.2111.05821
openalex publication_date 2021/11/10 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This paper integrates cooperative localization with continuum deformation coordination of a multi-quadcopter system (MQS) to assure safety and optimality of the quadcopter team coordination in the presence of position uncertainty. We first consider the MQS as a finite number of particles of a deformable triangle in a 3-D motion space and define their continuum deformation coordination as a leader-follower problem in which leader quadcopters can estimate (know) their positions but follower quadcopters rely on relative position measurements to localize themselves and estimate the leaders' positions. We then propose a navigation strategy for the MQS to plan and acquire the desired continuum deformation coordination, in the presence of measurement noise, disturbance, and position uncertainties, such that collision is avoided and rotor angular speeds of all quadcopters remain bounded. We show the efficacy of the proposed strategy by simulating the continuum deformation coordination of an MQS with eight quadcopters.