Control and path planning of quadrotor aerial vehicles for search and rescue

This paper addresses search and rescue using quad-rotors. The kinematic and dynamic analysis is applied to the task of controlling and maneuvering the quad-rotor. In stage one, initial static path planning using Dijkstra algorithm and flight mode dynamic path planning is applied with Virtual Potential Function algorithm. Upon reaching target, stage two switches from decentralized control to centralized control creating formations within swarms allowing lift of additional payload in the form of rescue supplies and target tracking.