Quadrotors Formation Control: A Wireless Medium Access Aware Approach

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

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

In this paper, the impact of the medium access protocols on the average consensus problem over wireless networks for a group of quadrotors is established. The stabilization of each helicopter is guaranteed using a simple and bounded nonlinear control strategy. 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. In addition, to validate the control strategy some experimental tests have been carried out to control the yaw angle of two quadrotors.

Domaines: Réseaux et télécommunications [cs.NI]

Jose Alfredo Guerrero, Pedro Castillo, Yacine Challal. Quadrotors Formation Control: A Wireless Medium Access Aware Approach. International Conference on Unmanned Aircraft Systems (ICUAS 2012), 2012, Philadelphia, United States. pp.1-7. ⟨hal-00709932⟩