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

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.