Decentralized real time implementation of a leader-follower coordination strategy for quadrotors

Author

Corona-Sanchez, Jose J. ; Vargas-Jacob, Juan A. ; Rodriguez-Cortes, H.

Author_Institution

ESIME Azcapotzalco, Mexico City, Mexico

fYear

2014

fDate

27-30 May 2014

Firstpage

237

Lastpage

243

Abstract

This paper presents a decentralized real time implementation of a leader-follower multiagent coordination strategy for quadrotors. The distance from the leader to the followers is specified by a set of interagent distances. Each agent maintains its desired position by means of a distributed trajectory generator in conjunction with local robust nonlinear controllers. The decentralized real time implementation is based on the Giotto model for embedded systems. The performance of the leader-follower coordination strategy is verified experimentally using two quadrotors.

Keywords

aerospace robotics; aircraft control; decentralised control; embedded systems; helicopters; mobile robots; multi-robot systems; nonlinear control systems; robust control; Giotto model; decentralized real time implementation; distributed trajectory generator; embedded systems; interagent distances; leader-follower coordination strategy; leader-follower multiagent coordination strategy; local robust nonlinear controllers; quadrotors; Lead; Multi-agent systems; Real-time systems; Robustness; Synchronization; Trajectory; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Unmanned Aircraft Systems (ICUAS), 2014 International Conference on

Conference_Location

Orlando, FL

Type

conf

DOI

10.1109/ICUAS.2014.6842261

Filename

6842261