Formation control of robotized aerial vehicles based on consensus-based algorithms

In this paper, consensus based formation control of multi robotized quadrotor vehicles is presented. The method is suitable in the case when information space is not huge, but includes as many states by how many degrees of freedom are achieved by consensus, or by the number of states in which the formation is achieved. Several extensions of the basic consensus algorithm are shown that include second-order consensus, as well as the case where the formation required to follow a predetermined external reference. Simulation results are fully consistent with the theory, but the implementation in real systems would have more details to take into consideration such as technical details about mutual communication.