Distributed Reconfigurable Formation Generator for Mini Aerial Vehicles

Lara Briñon Arranz (1) , Matthieu Muschinowski (2) , Jonathan Dumon (2) , Nicolas Marchand (1)

1 GIPSA-SYSCO - GIPSA - Systèmes non linéaires et complexité
2 GIPSA-Services - GIPSA-Services

This video presents a distributed trajectory generator for formation control of multi-robot systems. The desired formation is defined by its geometric parameters but the position of each robot in the formation is not predefined a priori. The contribution is the design of a distributed algorithm to compute the robots' positions with respect to a given target while maintaining a particular formation which can be reconfigured on-line. A tracking controller ensures the convergence of the robots to their desired positions

Domaines: Automatique; Automatique / Robotique

Lara Briñon Arranz, Matthieu Muschinowski, Jonathan Dumon, Nicolas Marchand. Distributed Reconfigurable Formation Generator for Mini Aerial Vehicles. IROS 2018 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2018, Madrid, Spain. ⟨10.1109/IROS.2018.8593511⟩. ⟨hal-01910699⟩