Distributed Estimation, Control and Coordination of Quadcopter Swarm Robots

02/14/2021

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by   Zheng Jia, et al.

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In this thesis we are interested in applying distributed estimation, control and optimization techniques to enable a group of quadcopters to fly through openings. The quadcopters are assumed to be equipped with a simulated bearing and distance sensor for localization. Some quadcopters are designated as leaders who carry global position sensors. We assume quadcopters can communicate information with each other.