Title :
Towards establishing and maintaining autonomous quadrotor formations
Author :
Nash, Audrow J. ; Massey, Terrill E. ; Wesley, Christopher J. ; Kosanam, Saketh Simha ; Conrad, James M.
Author_Institution :
Department of Electrical and Computer Engineering, University of North Carolina at Charlotte, 9201 University City Blvd, U.S.A.
Abstract :
Autonomous aerial formations of multiple quadrotors can be used for payload manipulation and surveillance, and often require an external system for computation or control, in order to be decentralized. By having centrally controlled quadrotors, swarm applications can be realized without the limitations of an external system. In this paper, an algorithm is proposed to establish a swarm formation of centrally controlled quadrotors. First, a method of localization and motion planning is discussed for a single quadrotor. Next, the behavior of quadrotor swarm formations with centralized control is described. Lastly, the future direction of this research is explained.
Keywords :
Cameras; Clustering algorithms; Equations; Light emitting diodes; Light sources; Machine vision; Mathematical model; Autonomous; Embedded Processing; Quadrotor; Unmanned Aerial Vehicle; Vision System;
Conference_Titel :
Informatics in Control, Automation and Robotics (ICINCO), 2014 11th International Conference on
