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:

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)