Formation control for quadricopters
In this project, we design algorithms for controlling drones (quadricopters) which are parts of a swarm so that, by controlling them in a distributed way (any drone takes his own decision based on the sensing information it can gather), we can ensure that:
- a desired configuration of the formation (indicated by relative positions of the drones) is attained;
- the motion of the different robots does not generate any collision, either with another drone or with elements of the map.
Two videos from Salim Vargas’MSc. thesis:
Salim Vargas. "Distributed model predictive control for formations of quadrotors". Msc. Thesis, CIMAT A.C., 2020. (co-advised with Héctor Manuel Becerra Fermín)
Patricia Marisol del Carmen Tavares Ramírez. "Vision-Based Formation Control For Unmanned Aerial Vehicles". Msc. Thesis, CIMAT A.C., 2019. (co-advised with Héctor Manuel Becerra Fermín)
Salim Vargas, Héctor Becerra, Jean-Bernard Hayet, "MPC-based distributed formation control of multiple quadcopters with obstacle avoidance and connectivity maintenance." Control Engineering Practice, 2022.