Impact of Wireless Medium Access Protocol on the Quadrotor Formation Control

Jose Alfredo Guerrero (1) , Yacine Challal (1) , Pedro Castillo (1)

1 Heudiasyc - Heuristique et Diagnostic des Systèmes Complexes [Compiègne]

In this chapter, the impact of the medium access protocols on the average consensus problem over wireless networks for a group of quadrotors is established. We study the case of a group of quadrotors communicating over a wireless network considering both directed and undirected graphs of information flow. It turns out that the media access control (MAC) protocols have a direct impact in both convergence time and average consensus solution, i.e. the solution of the average consensus is no longer the average of the initial conditions. It will be shown that the solution for the average consensus problem over a wireless network depends directly on the MAC algorithm. Simulations are provided to demonstrate the theoretical results.

Mots clés: carrier sense multiple access (CSMA); collision avoidance (CA); media access control (MAC) protocols; multiquadrotor consensus; Quadrotor Formation Control; wireless networks

Domaines: Réseaux et télécommunications [cs.NI]

Jose Alfredo Guerrero, Yacine Challal, Pedro Castillo. Impact of Wireless Medium Access Protocol on the Quadrotor Formation Control. José A. Guerrero, Rogelio Lozano. Flight Formation Control, John Wiley, pp.257-276, 2012, 9781118387191. ⟨10.1002/9781118387191.ch12⟩. ⟨hal-00662820⟩