We present experiments demonstrating a discrete-time flocking control algorithm using a group of three rotorcraft. We use a motion-capture system to sense each rotorcraft’s position. In addition, we use a centralized computer to calculate each rotorcraft’s control and transmit the control to the rotorcraft. The centralized computer is not required for the discrete-time flocking algorithm but is used to simplify implementation. These experiments show that the rotorcraft tend to a flocking configuration independent of whether a virtual leader is present or not. Furthermore, these experiments show that the rotorcraft approximately follow the leader (if applicable).
|Title of host publication||AIAA Guidance, Navigation, and Control|
|State||Published - Jan 1 2018|
|Event||AIAA Guidance, Navigation, and Control Conference, 2018 - Kissimmee, United States|
Duration: Jan 8 2018 → Jan 12 2018
|Name||AIAA Guidance, Navigation, and Control Conference, 2018|
|Conference||AIAA Guidance, Navigation, and Control Conference, 2018|
|Period||1/8/18 → 1/12/18|
Bibliographical noteFunding Information:
This work is supported in part by the National Science Foundation (OIA-1539070) and the National Aeronautics and Space Administration (NNX10AL96) through the NASA Kentucky Space Grant.
© 2018, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.
ASJC Scopus subject areas
- Aerospace Engineering
- Control and Systems Engineering
- Electrical and Electronic Engineering