Distributed Estimation, Control and Coordination of Quadcopter Swarm Robots

TL;DR

This thesis explores how distributed estimation, control, and coordination techniques can enable a swarm of quadcopters with local sensors and some global position information to navigate through openings effectively.

Contribution

It introduces a framework for distributed estimation and control in quadcopter swarms utilizing local sensors and leader-follower communication.

Findings

Successful coordination of quadcopters through openings

Effective use of local bearing and distance sensors for localization

Demonstrated robustness with partial global positioning

Abstract

In this thesis we are interested in applying distributed estimation, control and optimization techniques to enable a group of quadcopters to fly through openings. The quadcopters are assumed to be equipped with a simulated bearing and distance sensor for localization. Some quadcopters are designated as leaders who carry global position sensors. We assume quadcopters can communicate information with each other.