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.
Decentralized real time implementation of a leader-follower coordination strategy for quadrotors
2014-05-01
353762 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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