Skip to Main content Skip to Navigation
Conference papers

Hierarchical Control of a Team of Quadrotors for Cooperative Active Target Tracking

Abstract : This paper proposes a novel active target tracking strategy for a team of cooperating quadrotors equipped with 3-D range-finding sensors. The work builds upon previous research of the authors, and adopts a realistic nonlinear dynamic model for the quadrotors. A hierarchical controller is designed for the generation and tracking of the desired optimal trajectories of the aerial vehicles, and a discrete-time Kalman filter is used for fusing their local estimates of the target position. Under suitable conditions, it is shown that the cost function for the D-optimality criterion that the quadrotors aim at collaboratively reduce, possesses a single global minimum and no local minima. Numerical simulations and real-world experiments show the effectiveness of the proposed control strategy.
Document type :
Conference papers
Complete list of metadatas

Cited literature [18 references]  Display  Hide  Download
Contributor : Fabio Morbidi <>
Submitted on : Thursday, March 20, 2014 - 11:06:20 AM
Last modification on : Thursday, July 9, 2020 - 5:02:03 PM
Document(s) archivé(s) le : Friday, June 20, 2014 - 11:01:06 AM


Files produced by the author(s)


  • HAL Id : hal-00961527, version 1



Utku Gurcuoglu, Gustavo Armando Puerto-Souza, Fabio Morbidi, Gian Luca Mariottini. Hierarchical Control of a Team of Quadrotors for Cooperative Active Target Tracking. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), Nov 2013, Tokyo, Japan. pp.5730-5735. ⟨hal-00961527⟩



Record views


Files downloads