Towards establishing and maintaining autonomous quadrotor formations

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.