Abstract
The paper is dedicated to a formation task in a group of quadrotors. It contains a brief analysis of existing methods for the formation task. The authors also propose a new method for solving the formation task, which make it possible to ensure accurate compliance with distances between quadrotors in the formation, as well as featuring low computational complexity.
This work was supported in part by the Russian Foundation for Basic Research under Grants â„–14-08-01176, â„–13-08-00794.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Franchi, A., Secchi, C., Ryll, M., Bulthoff, H.H., Giordano, P.R.: Shared control: Balancing autonomy and human assistance with a group of quadrotor UAVs. IEEE Robotics & Automation Magazine 19(3), 57–68 (2012)
Schwager, M., Julian, B., Angermann, M., Rus, D.: Eyes in the sky: Decentralized control for the deployment of robotic camera networks. Proceedings of the IEEE 99(9), 1541–1561 (2011)
Fink, J., Michael, N., Kim, S., Kumar, V.: Planning and control for cooperative manipulation and transportation with aerial robots. International Journal of Robotics Research 30(3), 324–334 (2010)
Bouabdallah, S.: Design and control of quadrotors with application to autonomous flying. Lausanne Polytechnic University (2007)
Tonetti, S., Hehn, M., Lupashin, S., D’Andrea, R.: Distributed control of antenna array with formation of uavs. In: World Congress, vol. 18(1), pp. 7848–7853 (2011)
Balch, T., Arkin, R.C.: Behavior-based formation control for multirobot teams. IEEE Transactions on Robotics and Automation (6), 926–939 (1998)
Lawton, J.R.T., Beard, R.W., Young, B.J.: A Decentralized Approach to Formation Maneuvers. IEEE Transactions on Robotics and Automation 19(6), 933–941 (2003)
Wang, P.K.C.: Navigation strategies for multiple autonomous mobile robots moving in formation. J. Robot. Syst. 8(2), 177–195 (1991)
Desai, J.P., Ostrowski, J., Kumar, V.: Controlling formations of multiple mobile robots. In: Proc. IEEE Int. Conf. Robotics and Automation, Leuven, Belgium, pp. 2864–2869 (May 1998)
Mesbahi, M., Hadaegh, F.Y.: Formation flying control of multiple spacecraft via graphs, matrix inequalities, and switching. AIAA J. Guidance, Control, Dynam. 24(2), 369–377 (2000)
Wang, P.K.C., Hadaegh, F.Y.: Coordination and control of multiple microspacecraft moving information. J. Astronaut. Sci. 44(3), 315–355 (1996)
Desai, J., Ostrowski, J., Kumar, V.: Control of Formations for Multiple Robots. In: Proceedings of the IEEE International Conference on Robotics and Automation, Leuven, Belgium (1998)
Lewis, M.A., Tan, K.-H.: High precision formation control of mobile robots using virtual structures. Auton. Robot. 4, 387–403 (1997)
ErdoÄŸan, M.E., Innocenti, M., Pollini, L.: Obstacle Avoidance for a Game Theoretically Controlled Formation of Unmanned Vehicles. In: 18th IFAC 2011 (2011)
Flying Machine Arena, http://www.flyingmachinearena.org/
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer International Publishing Switzerland
About this paper
Cite this paper
Ivanov, D., Kalyaev, I., Kapustyan, S. (2015). Formation Task in a Group of Quadrotors. In: Kim, JH., Yang, W., Jo, J., Sincak, P., Myung, H. (eds) Robot Intelligence Technology and Applications 3. Advances in Intelligent Systems and Computing, vol 345. Springer, Cham. https://doi.org/10.1007/978-3-319-16841-8_18
Download citation
DOI: https://doi.org/10.1007/978-3-319-16841-8_18
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-16840-1
Online ISBN: 978-3-319-16841-8
eBook Packages: EngineeringEngineering (R0)