Consensus-based formation of a swarm of quadrotors interacting over ring digraphs

TL;DR

This paper introduces a consensus-based control strategy for quadrotor swarms interacting over ring digraphs, enabling formation and velocity control using a single parameter, supported by theoretical analysis and simulations.

Contribution

It develops a novel control approach for quadrotor swarms over ring digraphs, ensuring formation and velocity convergence with a single controller gain.

Findings

Consensus and stability are achievable with a single controller parameter.

The method allows for desired formation and velocity from arbitrary initial positions.

Simulation results confirm theoretical predictions and effectiveness.

Abstract

This work proposes a cooperative strategy for a group of quadrotors interacting over ring digraphs with macro-vertices of size two. Consensus for a group of general double integrators has been initially investigated, and it has been proved that through a suitable choice of a single controller parameter, consensus and stability of the resulting networked dynamical system can be ensured. This further opens up the possibility of achieving a desired formation and to move a swarm of quadrotors, interacting over ring digraphs, at a desired flight velocity, using a single controller gain. An analysis of achievable velocities is performed. Examples have been provided to offer deeper insights into the obtained analytical results. Simulation studies clearly demonstrate that a desired formation is achieved, starting from arbitrary initial positions, while also ensuring convergence to a final desired flight velocity.