Formation Control of a Group of Micro Aerial Vehicles (MAVs)

Coordinated motion of Unmanned Aerial Vehicles (UAVs) has been a growing research interest in the last decade. In this paper we propose a coordination model that makes use of virtual springs and dampers to generate reference trajectories for a group of quad rotors. Virtual forces exerted on each vehicle are produced by using projected distances between the quadrotors. Several coordinated task scenarios are presented and the performance of the proposed method is verified by simulations.