Decentralized formation coordination of multiple quadcopters under communication constraints

Pramod Abichandani, Kyle Levin, Donald Bucci

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations

Abstract

This paper addresses the problem of decentralized, outdoor formation coordination with multiple quadcopters. The problem is formulated as a receding horizon, mixed-integer non-linear program (RH-MINLP). Each quadcopter solves this RH-MINLP to generate its time-optimal speed profile along a minimum snap spline path while coordinating its position in a desired formation with other quadcopters. Constraints on quadcopter kinematics, dynamics, collision avoidance, wireless communication connectivity, and geometric formations are modeled. Communication connectivity is modeled as a constraint on maximum separation distance based on a minimum viable received signal strength in the presence of path loss attenuation. The resulting RH-MINLP is non-convex, and is solved using an outer-approximation branch and bound solver with a warm-starting scheme. The framework is validated via Hardware-in-the-Loop (HITL) and outdoor flight test with up to 6 quadcopters. Results demonstrate the effect of number of quadcopters and formation type on total transit time. Average radio packet loss statistics during transit indicate robust network performance for a round robin communication scheduling scheme.

Original languageEnglish (US)
Title of host publication2019 International Conference on Robotics and Automation, ICRA 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3326-3332
Number of pages7
ISBN (Electronic)9781538660263
DOIs
StatePublished - May 2019
Event2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada
Duration: May 20 2019May 24 2019

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2019-May
ISSN (Print)1050-4729

Conference

Conference2019 International Conference on Robotics and Automation, ICRA 2019
CountryCanada
CityMontreal
Period5/20/195/24/19

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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