Formation-containment tracking and scaling for multiple quadcopters with an application to choke-point navigation
Yu-Hsiang Su,Alexander Lanzon,Yu-Hsiang Su,Alexander Lanzon
This paper investigates the cooperative control problem of choke-point navigation for multiple quadcopters when only their subgroup is equipped with obstacle detecting sensors. We define a quadcopter as a leader if it is equipped with an obstacle detecting sensor; otherwise, it is a follower. In addition, we introduce a virtual leader agent to create the group motion. First, we apply the leader-fo...
