Formation control of unmanned micro aerial vehicles for straitened environments

This paper presents a novel approach for control and motion planning of formations of multiple unmanned micro aerial vehicles (multi-rotor helicopters, in the literature also often called unmanned aerial vehicles-UAVs or unmanned aerial system-UAS) in cluttered GPS-denied on straitened environments. The proposed method enables us to autonomously design complex maneuvers of a compact Micro Aerial Vehicles (MAV) team in a virtual-leader-follower scheme. The results of the motion planning approach and the required stability of the formation are achieved by migrating the virtual leader along with the hull surrounding the formation. This enables us to suddenly change the formation motion in all directions, independently from the current orientation of the formation, and therefore to fully exploit the maneuverability of small multi-rotor helicopters. The proposed method was verified and its performance has been statistically evaluated in numerous simulations and experiments with a fleet of MAVs.