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Decentralized Multi-Robot System for Formation Control of Quadcopters: The Integration Between the Virtual and Real World

  • Alexandre Harayashiki MoreiraEmail author
  • Wagner Tanaka Botelho
  • Maria das Graças Bruno Marietto
  • Edson Pinheiro Pimentel
  • Murilo Zanini de Carvalho
  • Tamires dos Santos
Conference paper
  • 39 Downloads
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1134)

Abstract

The main target of this paper is to propose a decentralized Multi-Robot Systems (MRS) architecture for formation control using quadcopters. The architecture consists of n virtual quadcopters implemented on the Gazebo software and a real quadcopter AR-Drone. The Robot Operating System (ROS) controls all quadcopters and manages the communication between them. Only one AR-Drone was used because it is enough to validate the integration between the virtual and real worlds. In order to control the position and formation of the quadcopter agents, three mathematical models were proposed to calculate the quadcopters paths in linear formation, the formation of polygonal figures with rotation, and the formation of polygonal figures with rotation and mobile reference point. In the simulations, it was possible to observe the displacement of the quadcopters in formation. However, in the real experiment, the trajectory in the formation control was partially observed due to some limitations presented on the system. Despite these problems, the integration between the virtual and real worlds has also been validated.

Keywords

Multi-Robot system Decentralized Formation control Quadcopter 

References

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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  • Alexandre Harayashiki Moreira
    • 1
    Email author
  • Wagner Tanaka Botelho
    • 2
  • Maria das Graças Bruno Marietto
    • 2
  • Edson Pinheiro Pimentel
    • 2
  • Murilo Zanini de Carvalho
    • 1
  • Tamires dos Santos
    • 2
  1. 1.Mauá Institute of TechnologySão Caetano do SulSão PauloBrazil
  2. 2.Federal University of ABC (UFABC)Centre of Mathematics, Computation and Cognition (CMCC)São PauloBrazil

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