Quadrotors motion coordination using consensus principle

In this paper we investigate the problem of motion coordination of a class of multi-agent robotic systems. By means of consensus theory, we implement a decentralized control scheme which relies on the exchange of information between agents in order to obtain a coordinated motion trajectory. The key feature of this approach relies in the fact that consensus is applied to a set of exosystems (one for each agent), which can be thought of as local reference generators. By tracking the generated coordinated reference the desired formation and trajectory is achieved.