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.


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    Title :

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




    Publication date :

    2014-05-01


    Size :

    353762 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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