Distributed formation control of fixed wing micro aerial vehicles for area coverage


Teams of fixed wing micro-aerial vehicles (MAVs) could provide a wide area coverage and relay data in wireless ad-hoc networks. In such applications fixed wing MAVs have to be able to regulate an inter-robot distance. Fixed wing MAVs have reduced maneuverability, that is, they cannot perform sharp turns or hover on the spot. This kinematic property presents the main challenge to design a formation algorithm that will regulate inter-MAV distance and cover the desired area. In this paper we present a distributed control strategy that is based on attraction and repulsion between MAVs and relies only on local information. We show in simulation and in field experiments with a team of fixed wing MAVs that using our strategy MAVs can cover an area by creating an equilateral triangular lattice and regulate communication link quality between neighboring MAVs.

DOI: 10.1109/IROS.2015.7353444

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@article{Varga2015DistributedFC, title={Distributed formation control of fixed wing micro aerial vehicles for area coverage}, author={Maja Varga and Meysam Basiri and Gregoire Heitz and Dario Floreano}, journal={2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, year={2015}, pages={669-674} }