Abstract
In this paper, consensus based formation control of multi robotized quadrotor vehicles is presented. The method is suitable in the case when information space is not huge, but includes as many states by how many degrees of freedom are achieved by consensus, or by the number of states in which the formation is achieved. Several extensions of the basic consensus algorithm are shown that include second-order consensus, as well as the case where the formation required to follow a predetermined external reference. Simulation results are fully consistent with the theory, but the implementation in real systems would have more details to take into consideration such as technical details about mutual communication.
Highlights
Autonomous vehicles, especially Unmanned Aerial Vehicles (UAV) have attracted great attention from researchers in the field of robotics [1]
Consensus algorithm is a powerful tool for a variety of applications in multi-agent systems and sensor networks
Movement of the aerial vehicles in the formation is successfully achieved by consensus algorithms
Summary
Autonomous vehicles, especially Unmanned Aerial Vehicles (UAV) have attracted great attention from researchers in the field of robotics [1]. Cooperation and joint efforts of individual autonomous agents (capable of independent decisions on actions to be taken) are research topic in the field of Multi Agent Systems. To agree on what is their common goal This agreement or negotiation is achieved by Consensus, when any agent is able to make its own decisions, suggest a value of the parameter (or multiple parameters). Consensus algorithms have the aim that on the basis of the parameter values of other agents, change their proposed value in order to converge to identical values In this way, the algorithm should provide a similar dynamic information space for each agent [2]. Consensus algorithms have recently been studied extensively in the context of cooperative control of multiple autonomous vehicles [3,4,5], while our attention is oriented toward consensus based formation control [6,7]. The effectiveness of the proposed algorithms is illustrated throughout the paper by simulations studies
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